Integrated Guidance And Control With Multiple Constraints

As a key technology to promote the development of missile technology,the guidance and control system is related to the performance of missile.With the development of missile technology and improved requirement on missile performance,the guidance and control system with higher performance is requisite.The integrated guidance and control can exploit the synergistic relationships between the guidance and control subsystem fully,improve the performance and reliability,and reduce implementation cost.Due to the aforementioned advantages,integrated guidance and control has attracted considerable attentions.To improve the hitting efficiency of the warhead,avoid stall and damaging the body structure of missile,and ensure the apparatus(such as the scramjet engine and the seeker which is installed with side-window detection technology)work properly,the typical states of missile(such as the impact angle,attack angle and sideslip angle)should be constrained.In addition,the characteristics of the actuator such as saturation and actuator failure should be taken into consideration,which have an important impact on the accuracy and reliability of the guidance and control system.Up to now,there exist few results on the integrated guidance and control with multiple constraints(especially the constraints on attack angle and sideslip angle).Therefore,the researches in the present dissertation focus on integrated guidance and control with multiple constraints that has great theoretical significance and application values.The main researches are listed as follows.First,the full state coupled integrated guidance and control design model is established based on the missile-target relative kinematics equation in three-dimensional space and the three-channel coupled attitude dynamics equation.By utilizing the acceleration of missile in the ballistic coordinate system and the line-of-sight coordinate system as the link and invoking the aerodynamics characteristic of missile,the synergistic relationships between the guidance subsystem and the control subsystem are exploited fully.Then,the integrated guidance and control with terminal impact angle constraint and input saturation is considered.Based on the assumption that the uncertainties in the system and their derivatives are bounded,the extended state observer with finite time convergence is constructed to estimate and compensate the uncertainties.By combining the dynamic surface control and the observer technique,the observer-based integrated guidance and control law is proposed.To analyze and compensate the effect of input saturation,the auxiliary system is also constructed.In presence of input saturation,the proposed integrated guidance and control scheme can ensure the missile strike the target precisely with desired impact angle.Subsequently,with the assumption that the uncertainties in the system are bounded,the adaptive technique is used to estimate the upper bounds of the uncertainties.Then the adaptive integrated guidance and control law is design by utilizing the dynamic surface control.Moreover,an auxiliary system is constructed to analyze and compensate the effect of input saturation.And the stability analysis of the closed-loop system is presented.The effectiveness of the proposed integrated guidance and control scheme is verified by the nonlinear numerical simulation.In the sequel,considering a class of uncertain nonlinear systems with partial states constraints,a barrier Lyapunov function-based dynamic surface control method is proposed.The barrier Lyapunov functions are employed to restrict the corresponding dynamic surface variable,and the introduced modified saturation function is used to restrict the virtual controller.Combining the constraints on the virtual control and dynamic surface variable,the constrained states are restricted within the constraints.Besides,the adaptive laws are presented to deal with the uncertainties and auxiliary systems are constructed to compensate the adverse effects of saturation.According to the stability analysis,the proposed adaptive controller can theoretically ensure the constrained states never violate the constraints.Furthermore,the integrated guidance and control problem with constraint on attack angle,sideslip angle and velocity deflection angle is considered.Considering the characteristics of the integrated guidance and control design model,an adaptive integrated guidance and control law is proposed based on the barrier Lyapunov function-based dynamic surface control method.And the stability of the closed-loop system is analyzed.The nonlinear numerical simulation results show the effectiveness of the proposed adaptive integrated guidance and control law.After that,the integrated guidance and control with state constraint and actuator faults is taken into consideration.The barrier Lyapunov function-based dynamic surface control method is used to deal with state constraint,and adaptive law is also presented to estimate the actuation effectiveness of actuators.Then,the adaptive fault-tolerant integrated guidance and control law is presented.Based on the Lyapunov stability theory,the stability of the closed-loop system is analyzed.The nonlinear numerical simulation verifies the effectiveness of the proposed adaptive fault-tolerant controller.Finally,the input saturation and state constraint are taken into consideration in integrated guidance and control design.The barrier Lyapunov function and modified sat-uration function are incorporated to prevent the constrained states from overstepping the constraints.The adaptive technique is employed to handle the uncertainties,and the auxiliary system is also constructed to deal with saturation.The adaptive integrated guidance and control law is proposed based on the dynamic surface control.The proposed integrated guidance and control scheme can theoretically ensure that constrained states never violate the constraints in presence of input saturation.The effectiveness of the adaptive integrated guidance and control scheme is demonstrated by nonlinear numerical simulation results.