滑翔式飞行器高空自适应跟踪制导控制方法

针对具有较大机动能力的滑翔式高超声速飞行器在复杂高空环境再入的问题，提出了一种基于LQR （线性二次调节器）的多状态自适应跟踪制导方法.该方法基于飞行器量纲一化的再入运动模型，考虑滑翔式飞行器各特征参数和飞行约束设计出基本安全飞行走廊，用拟合法将标准弹道综合成航程-高度-速度-航迹角函数.然后设计了基于LQR的多状态跟踪制导律，并采用多项式拟合法实现全弹道制导律的增益调度函数；形成了一套完整的滑翔式飞行器再入过程基于标准轨道的多状态LQR制导方案设计.并通过仿真计算，验证了该制导方法，表明该方法是有效、高精度的飞行器高空自适应跟踪制导方法. 

Adaptive Guidance Method of Hypersonic Vehicles in High-Altitude Based on Linear Quadratic Regulator

For the reentry of glide hypersonic vehicles with large maneuverability flying in complex high altitude environment, a multi-state adaptive guidance method was proposed based on linear quadratic regulator (LQR). On the basis of the dimensionless reentry movement model of the vehicle, taking the flight dynamic characteristics, path constraints and terminate constraints into account, a safe flight corridor was designed, and polynomial fitting method was used to convert the standard trajectory into a function with range, altitude, velocity and flight-path angle. Then, a multi-state adaptive guidance law was designed based on the LQR and polynomial fitting method was used to implement a gain scheduling function for trajectory guidance law. A complete guidance method design process for the reentry of the glide vehicle based on reference trajectory and multi-state LQR was formed. A simulation verified the guidance method and indicated that it is an effective and high-accuracy adaptive guidance method.