The Design Of Integrated Guidance And Control With Angle Constraint And Actuator Saturation

The guidance system and the control system are the core structures of a missile.They determine the performance of a missile directly.As the development of the missile technology,higher guidance accuracy is required.The integrated guidance and control regards the guidance system and the control system as a whole.Meanwhile,it can make the best use of the couple relationship between the two systems to improve the overall performance and reliability of the missile.Therefore,the research on the integrated guidance and control is of great significance in improving the guidance accuracy of the missile.This paper focuses on the research of the integrated and guidance with the constraint of the angle and the actuator saturation.The main contents are as follows.First of all,some common coordinate systems and the relationships between the different coordinate systems are introduced.Combining the longitudinal nonlinear equations of the missile,the model of the missile control system and the relative motion model of the missile and the target derives the design model of the integrated guidance and control.Next,apply the dynamic surface method to design the integrated guidance and control algorithm.As an improved backstepping,the dynamic surface method avoids the calculated explosion that often happens when we use the traditional backstepping.In the design process,an improved saturation function is introduced to limit the amplitude of the virtual controller.And the auxiliary systems are constructed to analyze and compensate the influence of saturation treatment of the signals.The stability of the designed algorithm is analyzed based on the Lyapunov stability theory.And the simulations have been done to verify the effectiveness of this designed algorithm.Next,considering that the dynamic surface reserves the nature of separation design that the backstepping owns and it has the shortcoming,which cannot use the missile's maneuverability evenly,we design the multiple constraints integrated algorithm based on the convex optimization.In the design process,we first write the integrated design model in the form of a compact linear time-variant(LTV)system.Then according to the guideline which we use a bunch of switched linear time-invariant(LTI)systems to appropriate the LTV system,we transform the original problem to a controller design of a LTI system.After introducing the concepts which are the short time stability of a linear system and the short time stabilization,we derive the concept named the short time stabilization of an input constrained linear system.Consequently,the integrated algorithm based on the convex optimization with multiple constrains is derived.The simulation results show that this algorithm can deal with the problem of limited state and saturated input signal effectively.Finally,considering that,in the terminal guidance flight,the missile will be affected by different interference and uncertainty,so the research on the antijamming is done.Recently,the active compensating hybrid control based on the disturbance observer has been used widely.Hence,the method based on the disturbance observer is used to improve the integrated algorithm based on the dynamic surface and the integrated algorithm based on the convex optimization.And the simulations are finished to verify the effectiveness of the improved algorithms.However,comparing with the results that are obtained by the original algorithms shows that the improved algorithms are hard to get the essential improvement in the performance.This means the original algorithms have some antijamming performance.Then the Monte Carlo simulations are finished to prove that both of the integrated algorithm based on the dynamic surface under multi-source interference and the convex optimization algorithm based on the disturbance observer under multi-source interference own good antijamming performance.