针对UCAV对地面目标实施精确打击的问题, 提出了制导**在多约束条件下的最优攻击弹道及跟踪控制方法。首先建立了弹体三自由度运动学模型, 对非线性运动学方程进行了变换, 无需线性化处理, 利用最优控制中的极小值原理设计了具有时间和终端角度约束的最优攻击末弹道, 可满足精确实时打击要求。随后结合某型空地制导**弹体数学模型, 利用滑模变结构控制原理设计了跟踪控制器, 实现了对最优攻击末弹道的跟踪。数字仿真结果表明, 所设计的最优攻击末弹道可实现, 并能够在给定约束条件下实施对目标的实时精确打击; 所设计的跟踪控制器鲁棒性好, 跟踪精度高, 并具有良好的动态特性和稳态品质。

Aiming at precise ground-target attacking taken by UCAV, we proposed an optimal attack trajectory in the case with multiple constraints and a controller design method.A 3-DOF kinematics model was established for the missile, and transformation was made for the nonlinear equations thus no linearization is needed.An optimal attack trajectory with time and final angle constraints was designed by using the minimum principle of optimal control theory, which could satisfy the accurate real-time requirement.In order to track the optimal attack trajectory, a tracking controller was designed using sliding mode control based on the body mathematical model of a certain type of air-to-ground guided weapon.Numerical simulation results show that:1)The designed optimal attack trajectory can be achieved to implement accurate real-time attack under given constraints;and 2)The designed tracking controller has good robustness, high tracking precision, fine dynamic feature and stability.