The Integrated Design of Underwater Interceptor Guidance Control Based on Adaptive Global Sliding Mode

基于自适应全局滑模的水下拦截器导引控制一体化设计

¹ College of Marine Science and Technology, Northwestern Ploytechnical University, Xi’an 710072, China
² National Key Laboratory of Underwater Information Processing and Control, Xi’an 710072, China

Received: 6 August 2017

Abstract

The underwater interceptor’s target have the characteristics of small size, fast speed and strong maneuverability, which requires the underwater interceptor guidance system to have fast and stable response capability. Aiming at the design requirement, this paper proposes a global sliding mode controller of integrated guidance and control(IGC). The integrated guidance and control mathematical model of the underwater interceptor’s lateral channel is established, and the global sliding mode control based on the adaptive regulation law is designed aiming to the problem of uncertainty about the emergence of an integrated system for the target maneuver. The asymptotic stability is proved by applying the Lyapunov theorem. Then the high-gain continuing method is adopted to restrain the buffeting for the IGC system. The proposed controller compensates the uncertain information and improves the robustness and fastness of the system. The simulation results show the effectiveness.

摘要

水下拦截器的目标具有体积小，速度快，机动性强等特点，从而要求水下拦截器制导系统具有快速且稳定的反应能力。针对该设计需求，提出了水下拦截器导引与控制一体化设计方法。建立了水下拦截器侧向通道的导引与控制一体化数学模型，针对目标机动造成一体化系统出现的不确定性问题，设计了自适应全局滑模一体化控制律，基于 Lyapunov 稳定性定理证明了系统的渐进稳定性，并采用高增益的连续化方法改进了算法，抑制了系统的抖振。该控制律优点在于对不确定信息进行估计和补偿，提高了系统的鲁棒性和快速性。仿真结果表明所提出的自适应全局滑模导引控制一体化方法具有有效性。