具有终端角度约束的自主水下航行器鲁棒制导律

针对具有末端角度约束的自主水下航行器(Automatic Underwater Vehicle,AUV)的制导问题,提出一种变结构导引方法。综合考虑自主航行器与目标的交会几何关系,采用近似零化视线角速度和随距离接近末端角度快速收敛向约束要求的准则,设计滑模控制器,实现对视线角速度和末端角度的控制。仿真证明了设计的制导算法可以实现水下自主航行器在具有末端角度约束条件下与目标的高精度交会,系统对目标机动具有较好的鲁棒性。 

Robust guidance method with terminal impact angle constraint for autonomous underwater vehicle

Based on robust control design method, a variable structure guidance is proposed for autonomous underwater vehicle (AUV) during the guiding course with terminal impact angle constraint. Considering the intercept geometry, a sliding mode controller is proposed for controlling the line of sight angle rate and the impact angle, based on the principle which controls the line of sight angle rate to approach zero and the terminal angle to approach the expected value more quickly as the distance decreases. Simulation results show that, with the application of the proposed method, small miss distance is achieved and the expected impact angle is reached. In addition, the system is robust to the target maneuvering.