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1、A new nonlinear guidance logic, that has demonstrated superior performance in guiding unmanned air vehicles (UAVs) on curved trajectories, is presented. The logic approximates a proportional-derivative controller when following a straight line path, but the logic also contains an element of anticipa
2、tory control enabling tight tracking when following curved paths. The method uses inertial speed in the computation of commanded lateral acceleration and adds adaptive capability to the change of vehicle speed due to external disturbances, such as wind. Flight tests using two small UAVs showed that
3、each aircraft was controlled to within 1.6 meters RMS when following circular paths. The logic was ultimately used for air rendezvous of the two aircraft, bringing them in close proximity to within 12 meters of separation, with 1.4 meters RMS relative position errors一种新的非线性导航理论被提出了，它在无人飞行器在弯曲轨迹飞行的运用
4、中表现出了 优良性能。当直线飞行时，这个理论接近于一个比例微分控制器，但是，这个理论包含了一 个预期控制的元素，使飞行器紧紧跟随曲线路径。该方法把惯性速度运用于command横向 加速度的计算（command lateral acceleration）并且增加了针对由于外部干扰（例如风）而引 起飞行器的速度变化的自适应能力。使用两架小型无人飞行器的飞行试验表明：当以圆形轨 迹飞行时，飞行器将被控制在1.6米以内时。该理论最终运用于飞行器的空中交会，使飞行 器之间保持在接近12米的距离内，允许1.4米的相对误差Nomenclature 术语V Vehicle velocity飞行速度补偿速度L1
5、 A line defined from vehicle position to a reference point on a desired trajectory在预定轨迹中，定义前飞行位置到参考点的的直线(距离？)n Angle created from V to the line L1 (clockwise direction is positive)速度方向V与我们的L1直线的方向的夹角（顺时针方向为正）ascmdAcceleration command sideways i.e. perpendicular to vehicle velocitydirection侧向加速度，垂直于飞
6、行器的速度方向 d Cross-track error 交叉航迹误差R Radius of circle or circular segment 圆或则圆弧的半径L Lyapunov function李亚普诺夫函数I. Introduction1 介绍Two approaches can be considered for the problem of trajectory tracking. One method separates the vehicle guidance and control problems into an outer guidance loop and an inn
7、er control loop. The inner loop controls the vehicle to follow acceleration commands which are generated by the outer loop. Simple strategies, based on geometric and kinematic properties, are typically used in the outer guidance loop. The alternative method uses an integrated approach wherein the in
8、ner and outer loops are designed simultaneously. In this case, a number of modern control design techniques can be applied, such as receding horizon 1, differential fatness 2, 3 and neural network based adaptive controls我们有两套可以考虑的关于轨迹跟踪问题的方法，一种方法就是将飞行器引导和控制的问题分为 外引导回路和内控制回路。内引导回路控制飞行器跟随由外控制回路产生的加速度。
9、基于几何和 运动特性的简单策略通常被运用于外引导回路。另一种方法是应用集成手段将内外集成一体，其 中内外控制回路是同时设计的。在这种情况下，一些现代的控制设计技术可以被应用，如：滚动 优化，differential fatness，神经网络的自适应控制。In most actual flight applications the separate inner and outer loop approach is more commonly taken because it is usually simpler and well-established design methods are av
10、ailable for inner loop vehicle control. Linear controllers are commonly used for the outer loop guidance of an aircraft. Typically, proportional and derivative (PD) controllers are used on the cross-track error, which is the lateral deviation from a desired flight path. If the desired trajectory pat
11、h is similar to a straight line, then this simple strategy will provide reasonably good outer loop performance. However, when tasks require tight tracking of complex curved paths, linear feedback on the cross-track error may not provide satisfactory performance. The guidance logic presented in this
12、paper contains an anticipatory control element which overcomes the inherent limitation of feedback control in following curved paths.在大多数实际飞行应用中，单独的内或外控制回路方法是比较常用的，因为这样通常是比较简单 的，而且对内回路的飞行器的控制是一个非常有效的设计方法。线性控制器通常用于飞机的外环 制导控制。通常情况下，比例以及它的衍生(比例微分)控制器被用于交叉误差的跟踪，交叉误 差就是偏离于期望飞行路径的横向偏差。如果期望的轨迹路径近似一条直线，那么这个
13、简单的策 略将提供非常好的外环控制性能。然而当我们需要精确跟踪复杂弯曲的路径时，基于交叉轨迹跟 踪的线性反馈不能提供令人满意的性能。在本文中提出的制导理论包含了一种预期控制的元素， 它克服了在跟随弯曲路径的反馈控制的固有限制。There are several terminal phase guidance laws for short-range tactical missiles missiles that can be used to do trajectory following by using an imaginary point moving along the desired
14、flight path as a pseudo target. Of theseproportional navigationgenerally provides the best performance, with less control effort, in constantvelocity intercepts, and it is widely accepted as the preferred method of guidance 57. The trajectory following guidance logic presented in this paper was moti
15、vated by this proportional navigation method. An important element in the proportional navigation is the use of the change in the line-of-sight between a missile and a target. A similar feature is also found in the trajectory following guidance logic between a vehicle and a pseudo target on a desire
16、d path.An important dirence between the two methods is that,unlike the proportional navigation, the speed of the pseudo target is not taken intoaccount in the trajectory tracking guidance logic. A detailed discussion on the relationship of the trajectory following guidance logic to proportional navigationis provided in Section II-B.有几种末端引导规律的短程战术导弹，他被使用在轨迹跟踪中，具体方式是通过使用一 个假想的沿着期望的飞行路径飞行的点作为伪目标。其中，比例引导一般提供了最好的性能， 在等速拦截中需要的控制力度更小，这种比例引导方法被广泛
