Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 52 12 2019 10 14 Design of Three-dimensional Robust Guidance Law Using Adaptive Dynamic Programming with Input Saturation Constraint Design of Three-dimensional Robust Guidance Law Using Adaptive Dynamic Programming with Input Saturation Constraint 3411 3424 3634 10.22060/mej.2019.16834.6451 FA Saeid Khan Kalantari Isfahan university of technology Iman Izadi Department of Electrical and Computer Engineering, Isfahan University of Technology Farid Sheikholeslam Department of Electrical and Computer Engineering, Isfahan University of Technology Journal Article 2019 07 27 In this paper, a three-dimensional robust guidance law for an interceptor considering input saturation and first-order dynamic for the autopilot system is designed. To attain this goal, first, modeling of the system in three-dimensional spherical coordination using engagement basics has been derived and after that, the appropriate cost function for a collision of interceptor and target considering actuator constraints and in absence of target movement information has been formulated. According to robust control literature for achieving this type of guidance laws, Hamilton-Jacobi-Isaacs differential equation inequality should be solved which unfortunately does not have a closed-form solution in our problem. Therefore, to overcome this challenge, using adaptive dynamic programming theory for solving acquired Hamilton-Jacobi-Isaacs, an algorithm for designing robust guidance law has been presented. Simplification of the differential inequality and also satisfying the robustness of the controller to different unknown target movemnts, are the most important features of the proposed algorithm. Various simulations for targets with different movements and comparison of the proposed method with conventional augmented proportional navigation, show the effectiveness of the designed three-dimensional robust guidance law. In this paper, a three-dimensional robust guidance law for an interceptor considering input saturation and first-order dynamic for the autopilot system is designed. To attain this goal, first, modeling of the system in three-dimensional spherical coordination using engagement basics has been derived and after that, the appropriate cost function for a collision of interceptor and target considering actuator constraints and in absence of target movement information has been formulated. According to robust control literature for achieving this type of guidance laws, Hamilton-Jacobi-Isaacs differential equation inequality should be solved which unfortunately does not have a closed-form solution in our problem. Therefore, to overcome this challenge, using adaptive dynamic programming theory for solving acquired Hamilton-Jacobi-Isaacs, an algorithm for designing robust guidance law has been presented. Simplification of the differential inequality and also satisfying the robustness of the controller to different unknown target movemnts, are the most important features of the proposed algorithm. Various simulations for targets with different movements and comparison of the proposed method with conventional augmented proportional navigation, show the effectiveness of the designed three-dimensional robust guidance law. https://mej.aut.ac.ir/article_3634_e2eabaf96372e20a9e3d4b5f83723a61.pdf