整合SDRE和ISMC控制技術於飛彈強健導引律之設計

Abstract

本論文探討攔截飛彈之強健控制器設計議題，其中欲攔截目標存在有未知之機動，視之為外在干擾。本論文所設計之控制器是整合狀態相關黎卡提方程 (SDRE) 和積分型態順滑模控制 (ISMC) 技術以對抗目標之機動並且達到預期之性能表現。本論文首先將 SDRE 控制技術應用在無干擾系統 (nominal system) 中，藉由適當地調整性能指標之權重及拆解漂流項以達到攔截任務，並獲得更理想的狀態響應。然而，由於目前沒有文獻指出如何確保 SDRE 控制技術之穩健性，因此本論文整合已設計好之控制器及 ISMC 技術來增加整個不確定系統 (uncertain system) 的穩健性。ISMC 技術不只增進了穩健性，同時還能得到與無干擾系統 (nominal system) 在SDRE 控制器下幾乎相同之狀態響應。模擬結果充分展示了以上所述之優點。

This thesis explores the design of robust guidance law for missile interception task, in which the target maneuver is treated as disturbances. In this thesis, we combine the state dependent Riccati equation (SDRE) and integral-type sliding mode control (ISMC) schemes to compensate for the target maneuver and realize the interception performance. To be more specific, the SDRE scheme is employed to the design of the guidance law for the nominal system. By appropriately selecting the weightings on performance index and factorizing the drift term, the interception is shown to be able to achieve with desired system performance. However, up to now, there is no concrete guideline provided to ensure the robustness of the SDRE scheme. Therefore, this thesis also combines the SDRE controller with ISMC scheme to strengthen the robustness of the guidance strategy. It is shown that the ISMC scheme not only can improve the robustness performance, it can also maintain the state responses close to those of the nominal system under the SDRE scheme. Finally, simulation results demonstrate the benefits of the presented scheme.