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Fast fixed-time three-dimensional terminal guidance with non-concave trajectory constraint

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Focusing on the non-concave trajectory constraint,a sliding-mode-based nonsingular feedback fast fixed-time three-dimensional terminal guidance of rotor unmanned aerial vehicle land-ing,planetary landing and spacecraft rendezvous and docking terminal phase with external distur-bance is investigated in this paper.Firstly,a fixed-time observer based on real-time differentiator is developed to compensate for the external disturbance,whose estimation error can converge to zero after a time independent of the initial state.Then,a sliding surface ensuring fixed-time convergence is presented.This sliding surface can guarantee that the vehicle achieves a non-concave trajectory,which is better for avoiding collision and maintaining the visibility of the landing site or docking port.Next,the nonsingular guidance ensuring the fixed-time convergence of the sliding surface is proposed,which is continuous and chatter free.At last,three numerical simulations of Mars land-ing are performed to validate the effectiveness and correctness of the designed scheme.

Three-dimensionalTerminal guidanceNon-concave trajectory con-straintFast fixed-time controlSliding mode control

Youmin GONG、Yanning GUO、Yueyong LYU、Dongyu LI、Guangfu MA

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Department of Control Science and Engineering,Harbin Institute of Technology,Harbin 150001,China

School of Cyber Science and Technology,Beihang University,Beijing 100191,China

National Defense Basic Scientific Research Project,China国家自然科学基金国家自然科学基金国家自然科学基金

JCKY2020903B002619731006227311812150008

2024

10.1016/j.cja.2023.09.023

中国航空学报(英文版)
中国航空学会

中国航空学报(英文版)

CSTPCDEI
影响因子：0.847
ISSN：1000-9361
年,卷(期)：2024.37(3)
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