Event-Triggered-Backstepping-Based Parallel Approaching Guidance Method for Maneuvering Target Interception

Abstract

In order to achieve a straight ballistic trajectory of missile and reduce the update frequency of the missile normal acceleration for the interception of maneuvering target, a backstepping-based parallel approaching guidance method is designed with nonlinear disturbance observer (NDO) technique and event-triggered (ET) mechanism in this paper. In order to suppress the adverse effect of target maneuver, the NDO is designed to estimate the target maneuvering acceleration. Then, the NDO-based backstepping method is used to obtain the normal acceleration of missile and realize the parallel approaching guidance. In order to reduce the update frequency of missile normal acceleration, the ET mechanism is employed in the parallel approaching guidance method. If the missile trajectory is relatively straight, the normal acceleration of missile remains unchanged. On the contrary, if the missile trajectory is not straight, the normal acceleration of missile is updated to make the missile trajectory straight. In this way, the ET-based parallel approaching guidance can be obtained. Furthermore, a determined method for the initial missile flight-path angle is proposed to keep the normal acceleration of missile at zero in the initial stage of interception. Besides, Lyapunov stability analysis method is used to prove that all signals in the closed-loop guidance system are uniformly ultimately bounded. Finally, simulation results show the effectiveness of the proposed guidance method.

Robust backstepping control for maneuver aircraft based on event-triggered mechanism and nonlinear disturbance observer

“…In the ETM, the controller d is changed only at § i f g 1 k¼0 and remains constant during [ § i , § i11 ), where § i f g 1 k¼0 denotes the event-triggering instants that is a monotonically increasing aperiodic time sequence. The event-triggering instants are decided when in violation of the state-dependent eventtriggering condition as follows (Duan et al, 2020;Shen et al, 2022):…”

“…In the ETM, the controller δ is changed only at true{ςitrue}k=0∞ and remains constant during [ ς i , ς i +1 ), where true{ςitrue}k=0∞ denotes the event-triggering instants that is a monotonically increasing aperiodic time sequence. The event-triggering instants are decided when in violation of the state-dependent event-triggering condition as follows (Duan et al , 2020; Shen et al , 2022): where ξ(t)=truee¯a−bold-italicea(t) denotes the event-triggering error vector for any t ∈[ ς i , ς i +1 ); bold-italicea=[bold-italicesboldT,bold-italicefboldT]boldT denotes the tracking error states vector; truee¯a denotes the last event-triggering error states vector as truee¯a= bold-italicea(ςi); and ξ E denotes the designed event-triggering threshold.…”

“…Once event-triggering condition (52) is violated, the tracking error state vector e a is assigned to the last event-triggering error state vector truee¯a and held during [ ς i , ς i +1 ). Correspondingly, the controller δ is also updated at event-triggering instants and held during [ ς i , ς i +1 ) as follows (Duan et al , 2020; Shen et al , 2022): …”

“…By using zero-order-holder, the ETM-based controller δ(truee¯a(t)) is achieved (Duan et al , 2020; Shen et al , 2022). Applying δ(truee¯a(t)) to equation (2) yields: …”

“…In this section, the minimum dwell time is defined as follows to analyze Zeno behavior (Shen et al , 2022): …”