关键词: 导引与控制一体化, 多约束, 扩张状态观测器, 非奇异终端滑模, 半实物仿真, 制导炮弹

Abstract: In the terminal guidance section of large caliber naval gun networked guided projectiles while striking near shore maneuver target, an Integrated Guidance and Control (IGC) method in space based on Block Dynamic Surface and Extended States Observer (BDSESO) is proposed with multiple constraints, including impact angle, control limitation, and measurement Line of Sight (LOS) rate limitation. The strict block feedback cascade model of rolling guided projectile IGC in space is constructed, and the ESO is used to estimate LOS rate and uncertain disturbances inside and outside the system such as target maneuvering, model error, and wind. Aiming at zeroing the LOS angle tracking error and LOS rate in finite time, a nonsingular terminal sliding mode is designed with the adaptive exponential reaching law. The adaptive dynamic surface control is adopted to effectively stabilize the cascade system and to avoid differential explosion. And in order to compensate the saturated nonlinearity of control constraints, the adaptive Nussbaum gain function is introduced. The LOS angle tracking error and LOS rate are finite time convergent and the whole system states are uniformly and ultimately bounded, which are proved by Lyapunov theory. A hardware-in-the-loop simulation experiment shows this method has good guidance performance in the guided projectile process while striking targets with different maneuvering forms.

Key words: integrated guidance and control, multiple constraints, extended state observer, nonsingular terminal sliding mode, hardware-in-the-loop simulation, guided projectile