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无人机规避或跟踪空中目标可以看作是一个非线性运动导引控制问题。针对这类任务中无人机和目标存在高机动性、高时敏性等特点,提出了一种基于Lyapunov稳定性理论的无人机规避或跟踪目标运动导引方法。构建了基于精细时间运动导引方法的无人机规避或跟踪空中目标问题求解框架,并将无人机碰撞规避和机动目标跟踪问题分别转化为到达虚拟目标点和与虚拟目标点交会的问题。针对碰撞规避问题,将其转化为实现平行导引的控制问题,基于Lyapunov稳定性理论设计了无人机碰撞规避导引律。针对机动目标跟踪问题,在碰撞规避基础上,根据目标点交会的要求设计了相应的目标跟踪导引律。在Gazebo平台上开展了仿真验证实验,实验结果表明:所提方法能够有效避免大过载情况的出现,并具有较强的时变和参数适应性。
UAV to avoid or track the air target can be seen as a nonlinear motion guidance control problem. In view of the characteristics of high maneuverability and high time sensitivity of UAVs and targets in such missions, this paper proposes a method to avoid or track UAVs based on Lyapunov stability theory. A solution to the problem of avoiding or tracking the air target based on the fine time motion guidance method was constructed. The problem of UAV collision avoidance and maneuvering target tracking was transformed into the problem of reaching the virtual target and meeting with the virtual target. Aiming at the problem of collision avoidance, this method is transformed into the control problem of parallel guidance. Based on the Lyapunov stability theory, a UAV collision avoidance guidance law is designed. Aiming at the maneuvering target tracking problem, on the basis of collision avoidance, the corresponding target tracking guidance law is designed according to the requirements of the target point rendezvous. The simulation experiment is carried out on Gazebo platform. The experimental results show that the proposed method can effectively avoid the occurrence of large overload and has strong time-varying and parameter adaptability.