碰撞自规避多弹分布式协同制导与控制

Collision avoidance multi-missile distributed cooperative guidance and control

针对多枚导弹三维空间协同攻击机动目标情形,提出一种碰撞自规避多弹分布式协同制导律及其实现方案.基于可以测得的目标信息,将目标视作领弹,与参与协同攻击的多枚导弹形成"领弹–从弹"拓扑结构,基于网络同步算法实现导弹对目标的协同攻击.为了实现碰撞自规避,当导弹与目标相距较远时,采用带安全距离的同步算法.当导弹与目标接近时,取消该安全距离.基于运动学关系,将协同制导指令转化为速度、弹道倾角和弹道偏角指令.针对指令的跟踪控制问题,提出了一种基于改进微分器的抗干扰动态面控制方案.将参数不确定和外部扰动均视为系统干扰,采用改进微分器实现对该干扰的精确估计,从而保证了闭环系统的跟踪性能.仿真结果表明本文提出的控制器实现了对协同制导指令的精确跟踪,整个方案实现了碰撞自规避协同攻击.

A cooperative guidance law with collision avoidance and the realization scheme for a group of coordinated missiles attacking a maneuvering target in three-dimensional space are proposed.Based on the measurable information,the target is regarded as a leader in forming the ＂leader-follower＂ topological structure with all attacking missiles.A network synchronization algorithm is designed for coordinating the attack.To realize the collision avoidance,the synchronization algorithm with a safe distance is adopted when the missiles and the target are far apart.The safe distance is then eliminated when they become close.Based on the kinematic relations,cooperative guidance commands are transformed into commands of velocity,flight path angle and flight heading angle.In dealing with the tracking problem for these commands,we propose a disturbance rejection dynamic surface control scheme based on the improved differentiator which accurately estimates the total disturbance including the parameter uncertainty and the external disturbance.The simulation results show the precise tracking performance of the proposed controller and the complete realization of the collision avoidance cooperative attack.