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11/13/2010

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# 2010 International Symposium on Computer, Communication, Control and Automation

Implement Three-Dimensional Pursuit Guidance Law with Feedback Linearization Control Method
Chien-Chun Kung Feng-Lung Chiang Chi-Yu Wu
Institute of Weapon System Engineering National Defense University Taoyuan, Taiwan Department of Mechatronic, Energy and Department of Aeronautics and Aerospace Engineering astronautics National Defense University National Cheng kung University Taoyuan, Taiwan Tainan, Taiwan e-mail:cckung@ndu.edu.tw e-mail:p48961227@mail.ncku.edu.tw

Abstract—In this paper, we will implement threedimensional pursuit guidance law with feedback linearization control method and study the effects of parameters. We first introduce guidance laws and equations of motion of a missile. Pursuit guidance law is our highlight. We apply feedback linearization control method to obtain the accelerations to implement pursuit guidance law. The solution makes warhead direction follow with line-of-sight. The simulation results show that the exact solution derived in this paper is correct and some factors e.g. control gain, time delay, are important to implement pursuit guidance law. Keywords-pursiut guidanc law, air to air missile, missile guidanc law

II. PURSUIT GUIDANCE LAW Guidance law is regarded as the most important portion of missile guidance system, and has intensely influence on result of interception. Pursuit guidance law that is simple to implement and has robust performance is adopted in this paper [6]. The conceptual ideal behind pursuit guidance law is that the missile should always head target’s position. An observation is that tail-chase intercept occurs when pre-angle is zero, where pre-angle is the angle between missile’s speed vector and line-ofsight. III. EQUATIONS OF MOTION FOR MISSILE Figure 1 shows the coordinate framework of the missile’s motion and the equations of motion are employed as follows [1]
t

I. INTRODUCTION Guidance laws of homing missile are studied within the two basic methods: Pursuit guidance (PG) law and Proportional navigation guidance (PNG) law. Those have been both well studied and successfully implemented in many fight vehicles, and the two kinds of guidance law have been proved to be useful guidance schemes in many air-to-air and surface-to-air systems for interception of airborne targets. In this paper, we attempt to combine the philosophies of feedback linearization control with the nonlinear engagement kinematics to implement three-dimensional pursuit guidance law. Guidance law plays an important role in pursuitevasion game. Many studies have appeared in the literature, such as papers [1][2][3] discuss the calculation and application of proportional navigation guidance law. The papers [4][5][6] talk about pursuit guidance law and proportional navigation guidance law at the same time. Basically, these guidance laws try to nullify the LOS (line-of-sight) change. Taking pursuit guidance law for example, all papers assume missile posture angle has been the same of visual angle. While literatures do not explain how to carry out PG law with missile pitch and yaw accelerations. In addition, the processes of implementation do not discuss about the effects of parameters, such as time delay, control gains and tracking orders. Therefore, this paper will implement nonlinear pursuit guidance law with feedback linearization control method to find the analytical solution of missile pitch and yaw axes lateral accelerations. Moreover, the capability and the stability of the angle tracking will be studied in this paper.

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