共查询到18条相似文献,搜索用时 359 毫秒
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针对三维导弹-目标相对运动模型,结合反演控制、滑模控制和自适应技术,设计了一种新的自适应反演滑模末制导律。针对目标机动加速度上界难以获取的问题,将目标机动加速度视作模型的干扰,设计了一种自适应律对其进行在线估计,并将估计值补偿到制导律中。运用李亚普诺夫稳定性理论证明了系统的全局渐进稳定性和误差的收敛性。仿真结果证明了所设计的自适应反演滑模末制导律对机动目标的鲁棒性和有效性。 相似文献
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风扰、气流扰动和模型未知部分的估计精度直接影响着无人机(UAV)的稳定性和控制品质,扩张观测器(ESO)能估计这些部分,但存在型别低,收敛性差,估计精度低等问题。补偿函数观测器(CFO)采用纯积分、补偿和传递函数型别的思想,改变了ESO结构,使得CFO较ESO高2个型别,精度高,收敛性强。然而,CFO是利用线性滤波器补偿系统的未知函数或扰动,对快速变化的高次非线性函数补偿能力不足。本文用径向基(RBF)神经网络替代了线性滤波器或积分器,提出了带有RBF神经网络的CFO,进一步提高了估计精度。应用带有RBF神经网络的CFO得到的非线性未知函数和扰动以及微分信息,设计了主动模型函数补偿控制算法,应用Lyapunov稳定性理论证明了闭环系统的稳定性。将该模型补偿控制算法成功地应用于四旋翼飞行器姿态系统的控制。仿真对比了所提出的基于CFO的模型补偿控制,PID控制和自抗扰控制算法,同时在基于Pixhawk的控制测试平台实验中,对比了这3种控制策略,测试四旋翼飞行器对不同参考姿态的跟踪性能。结果表明,所提出的控制方法,在暂态性能和稳态跟踪精度方面,优于其它控制器。 相似文献
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针对攻击机动目标的制导问题,设计了一种考虑自动驾驶仪性能、输入项约束的指令滤波反演制导律。首先,基于三维空间内弹目相对运动模型,采用反演递推方式设计制导律。针对传统反演控制存在的"微分膨胀"问题,引入指令滤波器对虚拟量进行过滤计算。考虑硬件计算能力的约束,引入自动驾驶仪二阶动力学模型减少控制过程延迟,并利用饱和函数和低通滤波器对输入项进行约束。此外,针对机动目标设计了一种扩张状态观测器来获取其加速度。通过Lyapunov理论证明了所设计闭环制导系统的稳定性。通过仿真实验验证了该制导律相有效性及优越性。 相似文献
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针对多枚导弹协同拦截机动目标的问题,提出了一种自适应Super-Twisting协同制导律。首先,基于领从式策略建立了多弹在纵平面内的协同制导模型,并结合Super-Twisting控制算法和代数图论设计了鲁棒协同制导律。其次,利用RBF神经网络对目标机动能力进行自适应估计,同时设计在线调节增益函数抑制控制系统抖振。最终,基于李雅普诺夫直接法证明了整个制导控制系统的稳定性,并对4枚导弹协同拦截机动目标的情况进行数值仿真,仿真结果表明了所提协同制导律的有效性和优越性。 相似文献
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This paper considers the guidance and control problem of a flight vehicle with side-window detection. In order to guarantee the target remaining in the seeker's sight of view, the line of sight and the attitude of the flight vehicle should be under some constraints caused by the side-window, which leads to coupling between the guidance and the attitude dynamics model. To deal with the side-window constraints and the coupling, a novel Integrated Guidance and Control (IGC) design approach is proposed. Firstly, the relative motion equations are derived in the body-Line of Sight (LOS) coordinate system. And the guidance and control problem of the flight vehicle is formulated into an IGC problem with state constraints. Then, based on the singular perturbation method, the IGC problem is decomposed into the control design of the quasi-steady-state subsystem and the boundary-layer subsystem which can be designed separately. Finally, the receding horizon control is applied to the control design for the two subsystems. Simulation results show the effectiveness of the proposed approach. 相似文献
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时间协同攻击是提高弹道导弹突防能力和作战效能的一种重要手段。由于发动机推力偏差等干扰因素造成导弹的飞行时间偏差较大,为精确控制弹道导弹的飞行时间,运用BP神经网络算法,建立了一种适用于较大飞行时间偏差修正的飞行时间调控模型。该模型用视加速度偏差表征推力偏差等干扰的影响,根据视加速度偏差调整导弹飞行中某一时段的程序角来实现对飞行时间的精确控制。由BP神经网络建立满足飞行时间偏差要求下视加速度与飞行程序角速率、转弯结束时间之间的映射关系。导弹实际飞行时,根据实际视加速度,由BP神经网络在线计算出飞行程序角速率及转弯结束时间,使导弹在干扰条件下仍以预定飞行时间到达目标。最后,通过仿真验证了该模型的有效性和可行性。 相似文献
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《中国航空学报》2020,33(2):672-687
This paper investigates a switching control strategy for the altitude motion of a morphing aircraft with variable sweep wings based on Q-learning. The morphing process is regarded as a function of the system states and a related altitude motion model is established. Then, the designed controller is divided into the outer part and inner part, where the outer part is devised by a combination of the back-stepping method and command filter technique so that the ‘explosion of complexity’ problem is eliminated. Moreover, the integrator structure of the altitude motion model is exploited to simplify the back-stepping design, and disturbance observers inspired from the idea of extended state observer are devised to obtain estimations of the system disturbances. The control input switches from the outer part to the inner part when the altitude tracking error converges to a small value and linear approximation of the altitude motion model is applied. The inner part is generated by the Q-learning algorithm which learns the optimal command in the presence of unknown system matrices and disturbances. It is proved rigorously that all signals of the closed-loop system stay bounded by the developed control method and controller switching occurs only once. Finally, comparative simulations are conducted to validate improved control performance of the proposed scheme. 相似文献
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Adaptive block dynamic surface control for integrated missile guidance and autopilot 总被引:3,自引:3,他引:0
A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom (6DOF) nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics. 相似文献