یک قانون هدایت مد لغزشی گام به عقب جدید با درنظر گرفتن دینامیک حلقه کنترل

نوع مقاله: مقالة‌ تحقیقی‌ (پژوهشی‌)

نویسندگان

دانشکدة کنترل، دانشگاه صنعتی مالک اشتر

چکیده

در این مقاله یک روند جدید برای طراحی قانون هدایت با درنظر گرفتن دینامیک حلقه کنترل پیشنهاد شده است. حلقه هدایت غیرخطی به همراه تابع تبدیل مرتبه اول به عنوان دینامیک حلقه کنترل فرمول‌بندی شده است. یک طرح کنترل مد لغزشی گام به عقب هموار و زمان محدود برای تضمین همگرایی زمان محدود سرعت نسبی جانبی مورد استفاده قرار گرفته است. همچنین در الگوریتم پیشنهادی نوسانات ناخواسته حذف شده و سیگنال کنترل همواری صادر می‌شود. علاوه بر این، مانور هدف به عنوان نامعینی ناسازگار در نظر گرفته شده است. سپس یک قانون هدایت مقاوم بدون نیاز به اندازه‌گیری دقیق یا تخمین شتاب جانبی هدف طراحی شده است. نتایج شبیه‌سازی نشان می‌دهد که قانون هدایت پیشنهادی عملکرد بهتری در مقایسه با ناوبری تناسبی، ناوبری تناسبی افزوده و قانون هدایت مد لغزشی دارد.

کلیدواژه‌ها


عنوان مقاله [English]

A New Backstepping Sliding Mode Guidance Law Considering Control Loop Dynamics

نویسندگان [English]

  • V. Behnamgol
  • A. Vali
  • A. Mohammadi
Department of Control Engineering, Malek Ashtar University of Technology
چکیده [English]

In this paper, a new procedure for designing the guidance law considering the control loop dynamics is proposed. The nonlinear guidance loop entailing a first order lag as the control loop dynamics is formulated. A new finite time and smooth backstepping sliding mode control scheme is used to guarantee the finite time convergence of relative lateral velocity. Also in the proposed algorithm the chattering is removed and a smooth control signal is produced. Moreover, the target maneuver is considered as an unmatched uncertainty. Then a robust guidance law is designed without requiring the precise measurement or estimation of target acceleration. Simulation results show that the proposed algorithm has better performance as compared to the proportional navigation, augmented PN and the other sliding mode guidance law.

کلیدواژه‌ها [English]

  • Guidance law
  • Control loop dynamics
  • Sliding mode control
  • Chattering

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