含攻击角约束的网络化弹药分布式模糊协同制导律

Distributed fuzzy cooperative guidance law for network projectiles with impact angle constraint

在舰炮网络化弹药打击近岸机动目标的末制导段,提出了一种考虑攻击角约束的有限时间分布式模糊协同制导律.构建网络化弹药–目标相对运动模型,设计扩张状态观测器估计目标的切向、法向加速度.在视线切向,为保证命中时刻在有限时间内趋于一致,采用积分滑模设计分布式有限时间协同制导律;在视线法向,为在有限时间内零化视线角误差、视线角速率并改善控制指令终端发散现象,采用非奇异终端滑模设计两阶段制导律.为削弱控制指令抖振、补偿干扰,设计模糊自适应系统,并通过Lyapunov理论证明了全系统状态的一致最终有界性与有限时间收敛性.仿真实验表明:该制导律使网络化弹药在打击机动形式不同的目标时,均具备较好的协同制导性能.

In the terminal guidance section of naval gun networked guided projectiles while striking near shore maneuver target,a finite time distributed fuzzy cooperative guidance law was proposed with impact angle constraint.The relative motion model of networked projectiles and target was constructed,and extended state observer(ESO)was designed to estimate target acceleration at tangent and normal of velocity.Aiming at guaranteeing the consensus of impact times in finite time,integral sliding mode was adopted to designed distributed finite time cooperative guidance law in the line-ofsight(LOS).In vertical LOS,in order to zeroing the error and angular of LOS angle in finite time,as well as improving terminal divergence phenomenon of control instruction,a two stage guidance law was designed by nonsingular terminal sliding mode.And fuzzy adaptive approximator was applied to weaken the chattering of control instruction and compensate interference.The states of whole system are all uniformly bounded and finite time convergence,which is proved by Lyapunov theory.Simulation experiment shows this guidance law makes networked projectiles possess well guidance performance while striking targets with different acceleration forms.