欠驱动系统控制方法实现导弹时间与角度协同

An Under Actuated System Control Method to Time and Angle Cooperative Guidance for Multi-Missiles

首先,给出弹目距离与视线角控制的二阶欠驱动系统的标准形式,选取这两个相关的系统状态分别构造滑模平面,滑模面能够保证系统状态的跟踪;然后,选取李雅普诺夫函数,采用李雅普诺夫稳定定理求取最终的控制量,保证两个滑模面渐近稳定,实现对撞击时间与撞击角度的同时控制;最后,在时间控制基本完成后,切换为角度精确控制。

Firstly,the 2-ord under actuated standard form of the impact distance and LOS angle were proposed.Two related states were chosen to construct sliding-mode surfaces;such the states tracking were guaranteed.Secondly the Lyapunov function was chosed and the control law is derived by using stability theory.It could guarantee the two sliding surfaces＇ asymptotic stability,which could guarantee the impact distance and the impact angle control synchronously.Finally the control switches to accurately control to angle.