Trajectory tracking control method based on adaptive super-twisting sliding mode

基于自适应超螺旋滑模弹道跟踪控制方法

¹ The Institute of Effectiveness Evaluation of Flying Vehicle, Beijing 100089, China
² School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China
³ School of Astronautics, Beihang University, Beijing 100191, China
⁴ School of Automation, Xi'an University of Posts and Telecommunications, Xi'an 710121, China

Received: 25 December 2021

Abstract

Aiming at the problem of trajectory tracking control in the process of missile network formation flying, based on the optimal nominal trajectory obtained by solving the two-point boundary value problem, combined with the anti-jamming characteristics of the sliding mode controller, a trajectory tracking control method based on the adaptive super-twisting sliding mode is proposed. First, on the basis of the terminal guidance section model, the two-point boundary value problem is solved through the idea of nonlinear programming to obtain the optimal nominal trajectory; Secondly, the tracking controller based on state deviation is designed in combination with the adaptive super-twisting sliding mode algorithm; Finally, the LQR trajectory tracking control method is introduced as a comparison method, and the effectiveness and feasibility of the sliding mode trajectory tracking method in the presence of initial state errors are verified by simulations, and the Monte Carlo simulation shows that the proposed method has good trajectory tracking control effect in the presence of different initial state errors.

摘要

针对导弹组网编队飞行过程中弹道跟踪控制问题, 求解两点边值问题得到最优标称轨迹, 结合滑模控制器抗干扰特性, 提出了基于自适应超螺旋滑模弹道跟踪控制器设计方法。在末制导模型的基础上通过非线性规划的思想求解两点边值问题进而得到最优标称轨迹; 结合自适应超螺旋滑模算法设计了基于状态偏差的跟踪控制器; 引入LQR弹道跟踪控制法作为对比方法, 通过仿真验证了在存在初始状态误差下滑模弹道跟踪方法的有效性和可行性, 并通过蒙特卡罗仿真验证了该方法在不同初始状态偏差下仍具有良好的轨迹跟踪控制效果。