基于扩张状态观测器的有限时间收敛制导律

Finite Time Convergent Guidance Law Based on Extended State Observer

针对导弹稳定控制系统动态响应特性,设计了一种有限时间收敛制导律。视稳定控制系统为一阶惯性环节,建立了平面弹目相对运动模型。将模型存在的误差和目标机动等效为干扰项,利用扩张状态观测器对干扰进行估计和补偿。将加速度积分控制设计与反步控制相结合,提高制导控制系统对机动目标的鲁棒性。制导律能够使弹目视线角速度有限时间收敛到零附近,通过仿真验证了所设计制导律的优越性。

In this paper,a finite time convergent guidance law is designed considering the missile flight control system(FCS)dynamic response characteristic.The mathematical model of relative motion is built and the FCS is considered as a first-order system.And then,the modeling error and target maneuvering acceleration are regarded as disturbance,which can be estimated and compensated by introducing the extended state observer(ESO).The robustness of the guidance system against the maneuver target can be improved by using back-stepping method and integrating the FCS.The proposed law can guarantee the line of sight(LOS)rate converges to a small bounded neighborhood of zero in finite time.Numerical simulation was carried out,and the feasibility and superiority of the proposed guidance law were verified.