基于非线性收敛因子的Terminal滑模制导律设计

Nonlinear Convergence Factor Terminal Mode Based Guidance Law Design

水下动能武器在末端时刻攻击目标具有作战范围小,时间短的特性。传统滑模变结构制导律通常选取线性滑动平面,收敛速度慢,对收敛时间没有约束,不能满足系统快速收敛到平衡状态。针对这一问题,提出一种改进的Terminal滑模变结构控制方法,通过引入非线性因子,使系统跟踪误差快速收敛到零,保证系统以期望的有限时间收敛到平衡状态。采用Terminal滑模面结合指数趋近律设计有限时间快速收敛制导律,该制导律即能满足系统快速性收敛要求,又能离线计算收敛时间。理论分析表明:所设计的制导律满足系统稳定性要求,并仿真验证了其快速收敛的有效性,较传统变结构制导方法收敛速度更快,具有更强的鲁棒性。

Kinetic weapon attack targets underwater with small range operations, short time features at the end of the time. Traditional linear sliding mode control guidance law can not meet the system in a finite time fast conver- gence to equilibrium requirements, that can not ensure attacking the target effectively. To solve the problem, this paper proposes an improved Terminal Sliding Mode Control method, guarantee system convergence to equilibrium state in finite time, by introducing nonlinear factor, make the system tracking error converge to zero quickly. By combining with exponential reaching law Terminal sliding mode surface design limited time fast convergent guidance law. The guidance law can ensure that the system convergence to equilibrium fast and calculate convergence time off-line. Theoretical analysis, the designed guidance law can meet the requirements of the system＇s stability, and its effectiveness was verified through simulation, and its convergence time is faster than traditional variable structure guidance law, has stronger robustness.