面向协同standoff跟踪问题的无人机制导律
收稿日期: 2013-09-04
修回日期: 2013-11-15
网络出版日期: 2013-12-04
基金资助
航空科学基金（20135896027）
UAV Guidance Law for Coordinated Standoff Target Tracking
Received date: 2013-09-04
Revised date: 2013-11-15
Online published: 2013-12-04
Supported by
Aeronautical Science Foundation of China(20135896027)
针对多无人机（UAV）协同standoff跟踪问题，提出了UAV的横侧向和纵向制导律。对参考点制导（RPG）进行改进，作为UAV的横侧向制导律。然后，采用一组非线性微分方程对UAV和目标相对距离的调节过程进行建模，在此基础上证明了改进RPG的渐近稳定性，并推导了RPG参数与系统性能的关系，为RPG参数的选取提供了依据。最后，给出了UAV的纵向制导律，并分析了其渐近稳定性。仿真结果表明，改进RPG的跟踪误差和时间乘以误差绝对值积分（ITAE）指标均优于Lyapunov向量场制导（LVFG）和模型预测控制（MPC），故改进RPG具有更快的响应速度和更高的稳态精度。
关键词： 无人机; 非线性; 渐近稳定性; standoff跟踪; 制导
王树磊 , 魏瑞轩 , 郭庆 , 蔚文杰 . 面向协同standoff跟踪问题的无人机制导律[J]. 航空学报, 2014 , 35(6) : 1684 -1693 . DOI: 10.7527/S1000-6893.2013.0470
A lateral and longitudinal guidance law of unmanned aerial vehicles (UAVs) for coordinated standoff target tracking is proposed. The reference point guidance (RPG) is modified as the lateral guidance law of the UAV, and the convergence process of the relative distance between the UAV and the target is modeled by nonlinear differential equations. The asymptotic stability of the modified RPG is demonstrated based on this nonlinear system, and then the relationship between the RPG parameter and system performance is derived as the basis for parameter selection. Finally, a longitudinal guidance law is provided, and its asymptotic stability is demonstrated. According to simulations, the tracking error and integrated time absolute error (ITAE) of the modified RPG are smaller than those obtained from Lyapunov vector field guidance (LVFG) and model-based predictive control (MPC). Thus the modified RPG possesses faster response speed and higher steady state accuracy than LVFG and MPC.
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