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Nonsingular Sliding Mode Guidance Law for Impact Time Control With field-of-view constraint

IEEE ACCESS 2025年 13卷 32004-32015页

作者： Zhang, Lei Yi, Wenjun Guan, Jun Nanjing Univ Sci & Technol Natl Key Lab Transient Phys Nanjing 210094 Peoples R China Jiangsu Univ Sci & Technol Sch Automat Zhenjiang 212100 Peoples R China

In this paper, a new missile impact time control guidance law using sliding mode control technology is proposed, aiming at intercepting stationary targets. The research focuses on improving the time-to-go estimation method, abandoning the small-angle assumption to achieve a more accurate estimation, and innovatively incorporating the field-of-view (FOV) constraint into the design of the guidance law. The guidance law ensures the missile's seeker remains within the specified FOV even with large initial lead angles, improving stability and enhancing launch flexibility in complex environments. By selecting reasonable control parameters, the impact time error and lead angle of the missile converge rapidly, boosting guidance efficiency. Lyapunov stability theory verifies its reliability and safety, and the absence of singularities in the guidance command significantly enhances the system's stability and robustness. The simulation results show that the proposed guidance law is adaptable to varieties of working conditions and exhibits excellent performance. Compared with the existing method, the guidance law satisfies the impact time control and FOV constraint even when the missile is launched at a large initial lead angle. This feature makes the guidance law show significant potential in the field of salvo attack.

关键词： Missiles Estimation Line-of-sight propagation Accuracy Trajectory Sliding mode control Lead Target tracking Three-dimensional displays Switches Impact time control sliding mode guidance law time-to-go estimation field-of-view constraint large lead angle salvo attack

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Optimal three-dimensional impact time guidance with seeker’s field-of-view constraint

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Chinese Journal of Aeronautics 2021年第2期34卷 240-251页

作者： Shaoming HE Chang-Hun LEE Hyo-Sang SHIN Antonios TSOURDOS School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Department of Aerospace Engineering Korea Advanced Institute of Science and TechnologyDaejeon 34141Republic of Korea School of Aerospace Transport and ManufacturingCranfield UniversityCranfiehMK43 OALUnited Kingdom

This paper proposes a new three-dimensional optimal guidance law for impact time control with seeker’s field-of-view(FOV) constraint to intercept a stationary target. The proposed guidance law is devised in conjunction with the concept of biased Proportional Navigation Guidance(PNG). The guidance law developed leverages a nonlinear function to ensure the boundedness of velocity lead angle to cater to the seeker’s FOV limit. It is proven that the impact time error is nullified in a finite-time under the proposed method. Additionally, the optimality of the biased command is theoretically analyzed. Numerical simulations confirm the superiority of the proposed method and validate the analytic findings.

关键词： Applied optimal control field-of-view constraint Impact time control Missile guidance Optimal error dynamics

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Consensus-Based Finite-Time Cooperative Guidance with field-of-view constraint

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INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES 2022年第5期23卷 966-979页

作者： Ma, Shuai Wang, Xugang Wang, Zhongyuan Chen, Qi Nanjing Univ Sci & Technol Sch Energy & Power Engn Nanjing Peoples R China

The problem of cooperative guidance of multiple missiles with field-of-view constraint is addressed based on consensus theory. Considering the singularity problem when the second-order consensus algorithm is directly applied to missile guidance, a novel finite-time consensus algorithm with field-of-view constraint is derived and proved. The singularity problem is also avoided. Cooperative guidance law under 2D and 3D engagement is designed using a two-stage guidance scheme. In the first stage, a decentralized guidance law is designed based on the derived finite-time consensus algorithm to provide the latter stage's desired initial conditions, and proportional navigation guidance law is used in the second stage. The proposed cooperative guidance law requires neither time-to-go estimation nor controllable velocity magnitude. Compared with other two-stage guidance schemes, the proposed cooperative guidance law can provide better initial conditions for the second stage. Numerical simulation and comparison work demonstrate the effectiveness and superiority of the proposed cooperative guidance law.

关键词： Cooperative guidance field-of-view constraint Finite-time convergence Consensus theory

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Impact time control guidance with field-of-view constraint accounting for uncertain system lag

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2016年第3期230卷 515-529页

作者： Zhang, Youan Wang, Xingliang Wu, Huali Naval Aeronaut & Astronaut Univ Dept Control Engn Yantai 264001 Peoples R China

The problem of impact time control guidance with seeker's field-of-view constraint in the presence of uncertain system lag is addressed. A novel two-step control approach based impact time control guidance law with seeker's field-of-view constraint is proposed. Specifically, in the first step, a state constrained robust adaptive control law, using the dynamic surface control method combining with the control integral barrier Lyapunov function technique, is synthesized to achieve the required robust tracking performance with respect to the desired trajectory of lead angle in the presence of uncertain system lag and other uncertainties. In the second step, the desired trajectory of lead angle is generated online to guarantee target interception at the designated impact time under the assumption of ideal autopilot dynamics while not violating the seeker' field-of-view constraint. The proposed guidance law ensures the seeker's field-of-view constraint does not be violated in the presence of uncertain system lag and other uncertainties. Numerical simulations are provided to illustrate the effectiveness of the proposed guidance law.

关键词： Guidance impact time control field-of-view constraint uncertain system lag integral barrier Lyapunov function dynamic surface control

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Sliding mode control based impact angle control guidance considering the seeker's field-of-view constraint

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ISA TRANSACTIONS 2016年 61卷 49-59页

作者： Wang, Xingliang Zhang, Youan Wu, Huali Naval Aeronaut & Astronaut Univ Dept Control Engn ErMa Rd 188 Zhifu Dist 264001 Yantai Peoples R China

The problem of impact angle control guidance for a field-of-view constrained missile against non-maneuvering or maneuvering targets is solved by using the sliding mode control theory. The existing impact angle control guidance laws with field-of-view constraint are only applicable against stationary targets and most of them suffer abrupt-jumping of guidance command due to the application of additional guidance mode switching logic. In this paper, the field-of-view constraint is handled without using any additional switching logic. In particular, a novel time-varying sliding surface is first designed to achieve zero miss distance and zero impact angle error without violating the field-of-view constraint during the sliding mode phase. Then a control integral barrier Lyapunov function is used to design the reaching law so that the sliding mode can be reached within finite time and the field-of-view constraint is not violated during the reaching phase as well. A nonlinear extended state observer is constructed to estimate the disturbance caused by unknown target maneuver, and the undesirable chattering is alleviated effectively by using the estimation as a compensation item in the guidance law. The performance of the proposed guidance law is illustrated with simulations. (C) 2016 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Guidance Sliding mode control Impact angle control field-of-view constraint Integral barrier Lyapunov function Nonlinear extended state observer

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Nonlinear mapping based impact angle control guidance with seeker's field-of-view constraint

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AEROSPACE SCIENCE AND TECHNOLOGY 2019年 86卷 724-736页

作者： Liu, Bojun Hou, Mingshan Feng, Dan Northwestern Polytech Univ Sch Automat Xian 710072 Shaanxi Peoples R China

A novel nonlinear mapping based guidance strategy is proposed for attacking stationary and non-maneuvering moving targets with desired impact angle and seeker's field-of-view (FOV) constraints. In this paper, the impact angle is related with the line-of-sight (LOS) angle, and the seeker's FOV constraint is transformed to be the limit of the relative speed perpendicular to the LOS between missile and target. Firstly, the second-order nonlinear state equations of the guidance system are established, and backstepping control technique is used for the guidance commands design. The LOS angle is regulated in the first step by a bounded virtual guidance law designed based on hyperbolic tangent function. By introducing a one-to-one nonlinear mapping in the second step, the relative speed perpendicular to the LOS is controlled to track the virtual guidance law without exceeding the prescribed limit by a real guidance law. Then the stability of the closed loop system and the nonsingularity of the guidance commands are proved. Finally, the performances of the proposed guidance law are illustrated with numerical simulations. (C) 2019 Elsevier Masson SAS. All rights reserved.

关键词： Guidance law Impact angle control field-of-view constraint Hyperbolic tangent function Nonlinear mapping

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Look angle tracking based three-dimensional impact time control guidance law with field-of-view constraint

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2023年第16期33卷 9951-9968页

作者： Wang, Jianan Ding, Xiangjun Wang, Chunyan Xia, Kewei Xin, Ming Beijing Inst Technol Sch Aerosp Engn 5 Yard Beijing 100081 Peoples R China Beijing Inst Technol Adv Res Inst Multidisciplinary Sci Beijing Peoples R China Univ Missouri Dept Mech & Aerosp Engn Columbia MO USA

This article proposes a three-dimensional impact time control guidance (ITCG) law without using time-to-go estimation, where the constrained field-of-view (FOV) is also considered. The guidance law design process is divided into two steps. First, the direction of the guidance command is selected to steer the look angle efficiently. Then, the desired look angle is constructed for controlling the impact time, and the guidance command magnitude is designed to track the desired look angle precisely in a prescribed time. By analyzing the look angle dynamics, the control gain is properly selected to guarantee satisfaction of the FOV constraint during the engagement. In addition, the feasible region of the desired impact time is derived. The effectiveness of the designed guidance law is validated by a series of numerical simulations.

关键词： field-of-view constraint impact time control prescribed time control three-dimensional guidance

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Integral barrier Lyapunov functions-based integrated guidance and control design for strap-down missile with field-of-view constraint

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2021年第6期43卷 1464-1477页

作者： Zhao, Bin Feng, Zhenxin Guo, Jianguo Northwestern Polytech Univ Inst Precis Guidance & Control 127 West Youyi Rd Xian Shaanxi Peoples R China

The problem of the integrated guidance and control (IGC) design for strap-down missile with the field-of-view (FOV) constraint is solved by using the integral barrier Lyapunov function (iBLF) and the sliding mode control theory. Firstly, the nonlinear and uncertainty state equation with non-strict feedback form for IGC design is derived by using the strap-down decoupling strategy. Secondly, a novel adaptive finite time disturbance observer is proposed to estimate the uncertainties based on an improved adaptive gain super twisting algorithm. Thirdly, the special time-varying sliding variable is designed and the iBLF is employed to handle the problem of FOV constraint. Theoretical derivation and simulation show that the IGC system is globally uniformly ultimately bounded and the FOV angle constraint is also guaranteed not only during the reaching phase but also during the sliding mode phase.

关键词： Sliding mode control integral barrier Lyaponov function field-of-view constraint strap-down seeker integrated guidance and control

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Impact Angle Control Guidance Law With Seeker's field-of-view constraint Based on Logarithm Barrier Lyapunov Function

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IEEE ACCESS 2020年 8卷 68268-68279页

作者： Zhou, Shou Zhang, Shifeng Wang, Donghui Natl Univ Def Technol Coll Aerosp Sci & Engn Changsha 410073 Peoples R China

In recent years, the strapdown system has become the significant trend of the development of precision guided weapons. In order to effectively hit the lightly armored targets, researchers have done a series of studies on the impact angle control. However, most of them ignored the field-of-view constraint of the strapdown seeker. The existing impact angle control guidance laws with the field-of-view constraint have obvious drawbacks to some extent. For example, most of them are only applicable against nonmaneuvering targets and some of them suffer sudden hopping of guidance command due to the use of switching logic. Taking the strapdown seeker missile as the research object, this paper studies the field-of-view constrained impact angle control guidance problem against stationary targets, constant speed targets and maneuvering targets. According to the sliding mode control theory, two kinds of sliding surfaces are designed to make the missile achieve high precision attack under a desired impact angle within the field-of-view constraint. A quadratic barrier Lyapunov function and a logarithm barrier Lyapunov function are used to guarantee that the sliding surfaces designed for the impact angle constraint and the field-of-view constraint can converge to zero in finite time respectively. Then, a nonlinear extended state observer is proposed to estimate the unmeasurable disturbance of the system and alleviate the undesirable chattering by compensating it with the estimation of the disturbance. Finally, the feasibility of the proposed law is verified by numerical simulations.

关键词： Missiles Lyapunov methods Switches Navigation Sliding mode control Observers Optimal control field-of-view constraint impact angle control logarithm barrier Lyapunov function nonlinear extended state observer sliding mode control

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Three-dimensional impact angle control guidance with field-of-view constraint

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AEROSPACE SCIENCE AND TECHNOLOGY 2020年 105卷 106014-106014页

作者： Liu, Bojun Hou, Mingshan Yu, Ying Wu, Zhonghua Northwestern Polytech Univ Sch Automat Xian 710072 Peoples R China Henan Polytech Univ Sch Elect Engn & Automat Jiaozuo 454000 Henan Peoples R China

Traditional analytical impact angle control guidance laws with field-of-view (FOV) constraint were studied in two-dimensional cases. This paper deals with this problem in a three-dimensional engagement scenario by proposing a new nonlinear non-switching guidance strategy for attacking a stationary ground target. The nonlinear relation of the two partial lead angles of the missile is decoupled, and the guidance strategies for a vertical impact case and a non-vertical impact case are studied, respectively. The design problem is converted to be the nonlinear tracking control issues of yaw and pitch subsystems with partial state constraint. Novel model transformations are introduced to the two subsystems based on the properties of sine function and hyperbolic tangent function, then the guidance laws are derived by utilizing nonlinear mapping-based backstepping technique. It is proved with Lyapunov approach that the missile line-of-sight angles can be regulated to the desired ones for impact angle control, and that the overall lead angle is always restricted within the prescribed region for FOV limit as well as it converges to zero eventually for homing constraint. Simulation results show that the missile can impact the target from various desired directions successfully without violating FOV limitation. (C) 2020 Elsevier Masson SAS. All rights reserved.

关键词： Three-dimensional guidance Impact angle control field-of-view constraint Backstepping control Nonlinear mapping

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