Abstract
The Robust Generalized Dynamic Inversion (RGDI) homing guidance (HG) and control design methodology is proposed for intercepting highly maneuvering targets. The two-loops RGDI based system is designed by prescribing dynamic constraints that encapsulate the interception kinematic and dynamic objectives. The constraints are generalized-inverted using the dynamically scaled Moore-Penrose Generalized Inverse to solve for the HG and control variables. Sliding mode control (SMC) elements are augmented in the two loops, and are aimed to equip the closed loop RGDI system with a guaranteed semi-global practically stable tracking performance and robustness against tracking performance degradation due to modeling and parametric uncertainties, exogenous disturbances, and generalized inversion scaling. Numerical simulations of the RGDI system are conducted using nonlinear planar engagement kinematics and interceptor dynamics. The proposed system's performance is compared with a classical SMC based HG & Control system and with a conventional Augmented Proportional Navigation HG system that is made by replacing the outer guidance loop in the RGDI system for different interception scenarios. The simulations results reveal that the RGDI system supersedes its counterparts in accomplishing direct collision and hit-to-kill HG interception requirements, demonstrating its high-level performance abilities and robustness attributes against agile target maneuvers in the presence of uncertainties, disturbances, and measurement noises. (C) 2020 Elsevier Masson SAS. All rights reserved.