具有有界输入约束的三维非线性路径跟踪制导
Three-dimensional Nonlinear Path-following Guidance with Bounded Input Constraints
AI总结：
针对有界输入约束下无人机三维任意光滑曲线路径跟踪问题，提出一种受追踪制导启发、不依赖路径几何的非线性制导律，并证明固定时间收敛与保持性能。
摘要：
本文考虑在无预先指定时间要求的情况下，对无人机（UAV）三维输出空间中的任意曲线几何路径进行跟踪，这通常被称为受有界输入约束的路径跟踪问题。具体而言，我们提出了一种新颖的无人机非线性路径跟踪制导律，使其能够在三维空间中跟踪任意光滑曲线路径，同时在设计中考虑有界控制权限。所提出的解决方案通过消除对路径几何形状的依赖，对路径跟踪问题进行了一般性处理，使其适用于具有不同复杂程度和平滑曲率的路径。此外，所提策略从追踪制导方法中汲取灵感，该方法以简单且易于实现而著称。理论分析保证，无论无人机相对于路径的初始构型如何，无人机都能在固定时间内收敛到期望路径并保持在该路径上。最后，仿真通过广泛的交战场景展示了所提制导策略的优点和有效性，体现了无人机精确跟踪各种曲线路径的能力。
英文摘要：
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following problems, subjected to bounded inputs. Specifically, we propose a novel nonlinear path-following guidance law for a UAV that enables it to follow any smooth curvilinear path in three dimensions while accounting for the bounded control authority in the design. The proposed solution offers a general treatment of the path-following problem by removing the dependency on the path's geometry, which makes it applicable to paths with varying levels of complexity and smooth curvatures. Additionally, the proposed strategy draws inspiration from the pursuit guidance approach, which is known for its simplicity and ease of implementation. Theoretical analysis guarantees that the UAV converges to its desired path within a fixed time and remains on it irrespective of its initial configuration with respect to the path. Finally, the simulations demonstrate the merits and effectiveness of the proposed guidance strategy through a wide range of engagement scenarios, showcasing the UAV's ability to follow diverse curvilinear paths accurately.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
