一种基于二阶滑模控制理论的协同导引律  

A Cooperative Guidance Law Based on Second Order Sliding Mode Control Theory

作　　者：崔宁[1] 王博[2] 纪毅[3] Cui Ning;Wang Bo;Ji Yi(School of Mechanical and Electronic Engineering,Zhuhai City Polytechnic,Zhuhai 519090,China;School of Mechanical and Automotive Engineering,Zhuhai College of Jinlin University,Zhuhai 519041,China;School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]珠海城市职业技术学院机电工程学院,珠海519090 [2]吉林大学珠海学院机械与汽车工程系,珠海519041 [3]北京理工大学宇航学院,北京100081

出　　处：《航天控制》2018年第4期39-45,共7页Aerospace Control

基　　金：国家自然科学基金(61172182)

摘　　要：多无人机协同作业是该行业的发展所需。在此背景下,利用二阶滑模理论设计新型无人机协同导引律,该导引律可使多无人机于期望时刻同时到达指定地点,即使各机所需飞行时间在有限时间内收敛于期望飞行时间。在此基础上,引入协调变量、协调函数概念与双层协同制导结构,以使无人机自主计算期望飞行时间。通过理论分析证明二阶滑模导引律的稳定性与有限时间收敛性,通过数学仿真证明该导引律的精确性与实用性。Cooperative working for multiple unmanned air vehicles（ MUAVs） is required in this field. Under this background,a cooperative guidance law based on second order sliding mode control（ 2-SMC） theory for MUAVs is proposed,this guidance law can make MUAVs arrival in prescribed point at prescribed time simultaneously,in another word,the guidance law can make flight time of every unmanned air vehicle（ UAV） convergence in prescribed time in finite time. On this basis,coordination variable,coordination function and double-check cooperative guidance structure are investigated to make prescribed time calculated by MUAVs themselves. The stability and convergence of 2-SMC guidance law are discussed through theoretical analysis,and the accuracy and practicability of proposed guidance law are demonstrated by passing mathematical simulation.

关 键 词：多无人机协同导引 导引律 二阶滑模控制理论 有限时间收敛 飞时约束 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]