全捷联光学导引头视场角及输入约束下制导控制一体化设计

This paper proposes a new type of guidance control for optically guided vehicles that considers the seeker's field of view constraint and the actuator input constraint simultaneously. Specifically, to allow for a strapdown optically guided vehicle to strike a moving target against a background, we integrate the strapdown decoupling principle with the state constraint control method. This integrated design method follows three key steps: firstly, full strapdown guidance and control with strict feedback is modelled; secondly, an adaptive law for estimating the unknown upper bound square is designed for model uncertainty; thirdly, based on an integral obstacle Lyapunov function combined with dynamic surface control, the seeker's field of view angle constraint problem is solved. Moreover, the actuator input constraint problem is solved using a smooth approximation to the saturation function in combination with the Nussbaum gain function. Finally, application of the Lyapunov theory proves that the design of the integrated guidance and control method is uniformly bound and stable. Numerical simulation results of typical scenarios show that this method can simultaneously meet the 8°, 8.5°, and 9° field of view constraints of strapdown optical seekers and the 10° input constraints of rudder actuators.