考虑避障和攻击角度约束的平行最优制导(湖南大学定名100周年专栏)

  • 李俊辉 ,
  • 王伟 ,
  • 耿宝魁 ,
  • 王雨辰 ,
  • 纪毅 ,
  • 林德福
展开
  • 1. 北京理工大学
    2. 西部工业集团有限公司

收稿日期: 2026-05-06

  修回日期: 2026-09-02

  网络出版日期: 2026-09-07

基金资助

高海拔环境下高旋飞行器稳态控制与精确制导方法研究;共轴双旋飞行器锥形运动稳定性分析与动态解耦控制

Parallel optimal Guidance for Obstacle Avoidance and Impact Angle Constraints

  • LI Jun-Hui ,
  • WANG Wei ,
  • GENG Bao-Kui ,
  • WANG Yu-Chen ,
  • JI Yi ,
  • LIN De-Fu
Expand

Received date: 2026-05-06

  Revised date: 2026-09-02

  Online published: 2026-09-07

摘要

针对复杂战场环境下的高价值攻势精确打击问题,本文提出了一种考虑避障和攻击角度约束的鲁棒平行最优制导方法。首先,为准确描述障碍物特征,构建三维柱体-半球模型,并利用LogSumExp函数实现避障约束的光滑表达;进一步,引入轨迹长度与平滑性指标构建优化问题,基于Bézier曲线设计满足避障约束及终端攻击角度约束的最优轨迹。在此基础上,将最优轨迹视为参考轨迹,结合单网络强化学习的思想设计了具有复合学习能力的鲁棒平行最优制导方法,借助在线存储的历史数据,放宽了持续激励条件并消除了对初始容许控制的依赖。通过Lyapunov稳定性理论,分析证明了闭环系统的最终一致有界性。仿真结果表明,所提方法在复杂障碍环境中获得安全、平滑且具有期望末端攻击角度的可行轨迹,并实现对参考轨迹的高精度跟踪,验证了其在复杂约束场景下的有效性。

本文引用格式

李俊辉 , 王伟 , 耿宝魁 , 王雨辰 , 纪毅 , 林德福 . 考虑避障和攻击角度约束的平行最优制导(湖南大学定名100周年专栏)[J]. 航空学报, 0 : 1 -0 . DOI: 10.7527/S1000-6893.2026.33827

Abstract

For high-value offensive precision strike missions in complex battlefield environments, a robust parallel optimal guidance method considering obstacle avoidance and impact angle constraints is proposed in this paper. First, to accurately characterize obstacle features, a three-dimensional cylinder–hemisphere obstacle model is established, and the LogSumExp function is employed to obtain a smooth representation of obstacle avoidance constraints. Furthermore, an optimization problem incorporating trajectory length and smoothness indices is formulated, and an optimal trajectory satisfying both obstacle avoidance and terminal impact angle constraints is generated based on Bézier curves. On this basis, the optimal trajectory is taken as the reference trajectory, and a robust parallel optimal guidance method with composite learning capability is developed by combining the idea of single-network reinforcement learning. By utilizing online stored historical data, the proposed method relaxes the persistent excitation condition and eliminates the dependence on an initial admissible control policy. The uniform ultimate boundedness of the closed-loop system is proved through Lyapunov stability theory. Simulation results show that the proposed method can obtain a safe, smooth, and feasible trajectory with the desired terminal impact angle in complex obstacle environments, while achieving high-precision tracking of the reference trajectory, thereby verifying its effectiveness in complex constrained scenarios.

参考文献

[1]DONG W, DENG F, WANG C, et al.Three-dimensional spatial–temporal cooperative guidance without active speed control[J].Journal of Guidance, Control, and Dynamics, 2023, 46(10):1981-1996
[2]ZHAO R, YU X, WANG D, et al.Two-stage three-dimensional obstacle avoidance and impact angle control guidance law[J]. Aerospace Science and Technology, 2025, 161: 110104.
[3]董伟, 易鑫, 张后军, 等.攻击角度和时间精确控制的制导律设计[J].航空学报, 2025, 46(04):205-221
[4]DONG W, YI X, ZHANG H J, et al.Design of guidance law with precise impact angle and time control[J].Acta Aeronautica et Astronautica Sinica, 2025, 46(4):330787-
[5]PARK J, JEONG E T, JUNG K W, et al.Proportional navigation guidance with virtual targeting for impact angle control[J].IEEE Transactions on Aerospace and Electronic Systems, 2024, 61(1):457-472
[6]YOU H, CHANG X, ZHAO J, et al.Three-dimensional impact-angle-constrained cooperative guidance strategy against maneuvering target[J]. ISA Transactions, 2023, 138: 262-280.
[7]张宏岩, 王伟, 陈仕伟, 等.基于全驱系统方法的制导控制一体化设计[J].航空学报, 2024, 45(01):137-149
[8]ZHANG H Y, WANG W, CHEN S W, et al.Integrated guidance and control design based on fully actuated system method[J].Acta Aeronautica et Astronautica Sinica, 2024, 45(01):137-149
[9]闫循良, 王培臣, 郭杨.再入滑翔机动突防轨迹规划与制导方法综述[J].航空学报, 2025, 46(17):331810-
[10]YAN X L, WANG P C, GUO Y.Review of trajectory planning and guidance methods for entry glide maneuvering penetration[J].Acta Aeronautica et Astronautica Sinica, 2025, 46(17):331810-
[11]WANG H, GUO J, WANG X, et al.Time-coordination entry guidance using a range-determined strategy[J]. Aerospace Science and Technology, 2022, 129: 107842.
[12]YU Z, QI N, LI Z, et al.Optimization of multi-target continuous dynamic trajectory for unmanned aerial vehicles[J]. Aerospace Science and Technology, 2024, 150: 108958.
[13]孙清黎, 郭健, 王永圣.考虑非圆禁飞区的空天飞行器TAEM轨迹规划方法[J/OL]. 航空学报, 2026, 1-23.
[14]SUN Q L, GUO J, WANG Y S.TAEM phase trajectory planning of aerospace vehicle with non-circular no-fly zones[J/OL]. Acta Aeronautica et Astronautica Sinica, 2026, 1-23 (in Chinese).
[15]LI HENG, LYU X K, YU J L, et al.Impact time and angle guidance strategy with maximum lateral acceleration constraints: Theory and experiment[J]. Chinese Journal of Aeronautics, 2025: 103775.
[16]SHI H, CHENG Z, KUANG M, et al.Four-stage guidance law for impact time and angle control based on the bezier curve[J].IEEE Transactions on Aerospace and Electronic Systems, 2023, 60(4):3766-3778
[17]CHEN W, HU Y, GAO C, et al.Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer[J]. Defence Technology, 2024, 32: 412-429.
[18]ZHAO J, SHI Z, WANG Y, et al.Quaternion-based adaptive trajectory tracking control of a rotor-missile with unknown parameters identification[J]. Defence Technology, 2024, 31: 375-386.
[19]CHEN W, HU Y, GAO C, et al.Three-dimensional trajectory tracking guidance against near-space maneuvering targets with multiple constraints under wind field[J]. Control Engineering Practice, 2024, 142: 105745.
[20]DENG T B, HUANG H, FANG Y W, et al.Reinforcement learning-based missile terminal guidance of maneuvering targets with decoys[J].Chinese Journal of Aeronautics, 2023, 36(12):309-324
[21]PENG C, ZHANG H, HE Y, et al.State-following-kernel-based online reinforcement learning guidance law against maneuvering target[J].IEEE Transactions on Aerospace and Electronic Systems, 2022, 58(6):5784-5797
[22]ANNASWAMY A M, FRADKOV A L.A historical perspective of adaptive control and learning[J]. Annual Reviews in Control, 2021, 52: 18-41.
[23]LUO R, PENG Z, HU J, et al.Adaptive optimal control of affine nonlinear systems via identifier–critic neural network approximation with relaxed PE conditions[J]. Neural Networks, 2023, 167: 588-600.
[24]李梦花, 王鼎, 赵明明, 等.不依赖初始容许控制的非对称约束零和博弈智能评判设计[J].控制与决策, 2025, 40(04):1347-1356
[25]LI M H, WANG D, ZHAO M M, et al.Intelligent critic design for asymmetric constrained zero-sum games without relying on initial admissible control[J].Control and Decision, 2025, 40(04):1347-1356
[26]ZHANG W, YI W.Composite adaptive dynamic programming for missile interception systems with multiple constraints and less sensor requirement[J]. ISA transactions, 2021, 117: 40-53.
[27]SUN H, YAN S, LIANG Y, et al.Memory-extraction-based DRL cooperative guidance against the maneuvering target protected by interceptors[J]. Aerospace Science and Technology, 2024, 155: 109575.
[28]ORTEGA R, NIKIFOROV V, GERASIMOV D.On modified parameter estimators for identification and adaptive control. A unified framework and some new schemes[J]. Annual Reviews in Control, 2020, 50: 278-293.
[29]WANG D, HE H, LIU D.Intelligent optimal control with critic learning for a nonlinear overhead crane system[J].IEEE Transactions on Industrial Informatics, 2017, 14(7):2932-2940
[30]WEI Q, LI H, WANG F Y.Parallel control for continuous-time linear systems: A case study[J].IEEECAA Journal of Automatica Sinica, 2020, 7(4):919-928
[31]JIAO S, WEI Q, XIAO J.Parallel control with event-based adaptive critic implementation for robust optimal tracking of uncertain nonlinear systems[J]. IEEE Transactions on Automation Science and Engineering, 2024, 22: 5673-5686.
[32]GREENE M L, DEPTULA P, NIVISON S, et al.Approximate optimal trajectory tracking with sparse bellman error extrapolation[J].IEEE Transactions on Automatic Control, 2022, 68(6):3618-3624
[33]LI H, HE S, WANG J, et al.Near-optimal midcourse guidance for velocity maximization with constrained arrival angle[J].Journal of Guidance, Control, and Dynamics, 2021, 44(1):172-180
[34]CHEN S, WANG W, FAN J, et al.Robust Enhanced Model Predictive Guidance for Impact Angle Constraints and Obstacle Avoidance[J].IEEE Transactions on Aerospace and Electronic Systems, 2025, 61(6):19366-19382
[35]MOLNAR T G, AMES A D.Composing control barrier functions for complex safety specifications[J]. IEEE Control Systems Letters, 2023, 7: 3615-3620.
[36]KONG X W, ZHANG C, XIONG F F.Impact speed and angle constrained guidance law for unpowered gliding vehicle[J].Chinese Journal of Aeronautics, 2025, 38(4):103196-
[37]GRINFELD N, BEN-ASHER J Z.Minimal-jerk missile guidance law[J].Journal of Guidance, Control, and Dynamics, 2015, 38(8):1520-1525
[38]LU J, WEI Q, WANG F Y.Parallel control for optimal tracking via adaptive dynamic programming[J].IEEECAA Journal of Automatica Sinica, 2020, 7(6):1662-1674
[39]OUYANG Y, DONG L, SUN C.Critic learning-based control for robotic manipulators with prescribed constraints[J].IEEE Transactions on Cybernetics, 2020, 52(4):2274-2283
Options
文章导航

/

〈 〉