带扩张观测器的三维有限时间收敛导引律

为了保证视线角速率在弹目碰撞前收敛到零附近的较小邻域内，从而达到准平行接近的状态，基于自抗扰控制的不确定性估计补偿思想，应用反演控制方法设计了一种考虑导弹自动驾驶仪二阶动态特性和目标机动的三维有限时间收敛导引律。根据有限时间收敛控制理论，严格证明了系统的有限时间收敛特性；为抑制量测噪声，将传统跟踪微分器进行改进并应用于扩张状态观测器与反演控制的设计中。仿真结果表明，在自动驾驶仪响应延迟情况下，所设计的导引律能够导引导弹在有限时间内精确地拦截高速机动目标；改进的跟踪微分器精度高、响应快；基于改进跟踪微分器的扩张观测器估计效果理想。
Aiming at sending the line-of-sight angular rate to a small neighborhood of zero before hitting the target to achieve the interception of the missile to the target to quasi parallel approaching state. Based on the active disturbance rejection control to estimate and compensate the uncertainties, a novel three-dimensional finite time convergence guidance law was presented accounting for the second order dynamics of missile′s autopilot and target′s maneuver. The finite time convergence of system was strictly proved based on the finite time convergence control theory. For the purpose of restraining measurement noise, the traditional tracking differentiator was modified to be applied in the process of designing a novel extended state observer and backstepping control. Simulation results demonstrate that the proposed guidance law can guide missiles to accurately 〖JP2〗intercept a maneuvering target with finite time, even if the autopilot has a lag, modified tracking differentiator has the advantages of high precision, fast response and strong ability of noise restraint, the extended state observer based on the modified tracking differentiator has better estimation effect.