设计了一种能避开多个防御区并安全拦截静止目标的非线性制导方法。
Safety-Critical Input-Constrained Nonlinear Intercept Guidance in Multiple Engagement Zones
- 用防御区几何划分危险区域，区分可避与必被拦截区
- 通过平滑最小函数融合多防御区威胁，优先处理最危险区域
- 考虑执行器饱和，确保控制输入不超限且系统稳定
本文提出一种输入受限的非线性制导律，用于在存在多个防御方的对抗环境中拦截静止目标。不同于依赖防御方策略或基于距离保守安全条件的已有方法，本文通过“交战区”几何刻画防御威胁——交战区外拦截器绝对安全。制导律在靠近交战区时执行避让机动，在其外则执行追击。针对多个交战区，采用平滑最小函数（对数和指数近似）聚合所有威胁，自动优先处理最紧迫威胁。将输入饱和嵌入非完整车辆动力学中，确保控制器在遵守执行器极限的同时保持稳定性。多防御方的数值仿真表明，该方法可在多种初始条件下有效规避交战区并完成拦截。
原文摘要 · Abstract (English)
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit knowledge of defender strategies or utilize conservative safety conditions based on a defender's range, our work characterizes defender threats geometrically through engagement zones that delineate inevitable interception regions. Outside these engagement zones, the interceptor remains invulnerable. The proposed guidance law switches between a repulsive safety maneuver near these zones and a pursuit maneuver outside their influence. To deal with multiple engagement zones, we employ a smooth minimum function (log-sum-exponent approximation) that aggregates threats from all the zones while prioritizing the most critical threats. Input saturation is modeled and embedded in the non-holonomic vehicle dynamics so the controller respects actuator limits while maintaining stability. Numerical simulations with several defenders demonstrate the proposed method's ability to avoid engagement zones and achieve interception across diverse initial conditions.
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