基于有限时间一致的靶机协同中制导律设计

Design of finite time cooperative mid-course guidance law for unmanned target drone aircrafts

针对多靶机集群供靶的协同中制导问题,设计了一种带视线角约束的有限时间协同中制导律。建立靶机-目标的相对运动方程及考虑视线角约束的多靶机协同制导模型。对视线方向及法向分别设计了相应协同制导律。在视线方向基于多智能体一致性理论设计了固定时间协同制导律,通过引入速度维度确保各靶机能够同时到达;基于有限时间可变系数滑模控制方法设计了视线法向上的角度约束制导律,使各靶机视线角能在有限时间收敛至期望值且在接近终点时有一定机动能力,并通过Lyapunov稳定性理论证明系统的收敛性。仿真结果表明,所设计的协同中制导律可使各靶机以较小的脱靶量同时到达虚拟目标且满足视线角约束,验证了其有效性。

For cooperative mid-course guidance problem of multiple unmanned target drone aircrafts(UTDA),a novel cooperative guidance law with impact angle constraints is proposed in this study.Firstly,the relative motion equation of UTDAs and target,and the multiple-UTDA cooperative guidance model with impact angle constraints are constructed.Then,the process of cooperative guidance law design is divided into two stages.In the first stage,the acceleration command on the LOS direction is designed based on the fixed-time consensus theory,the speed dimension is introduced which can guarantee the consensus of all UTDAs′impact times in fixed time.In the second stage,an impact-angle-control guidance law is proposed based on the approaches of variable coefficients sliding mode control and finite-time convergence theory to reach the virtual targets,the acceleration command on the direction of perpendicular to the LOS is developed,which can ensure that all the LOS angles converge to the desired terminal LOS angle in finite-time and some mobility when approaching the virtual targets is achieved,and the Lyapunov stability is adopted.Finally,numerical simulations express that the cooperative mid-course guidance law designed in this study can make each UTDA reach the virtual target at the same time with small miss distance and meet the LOS constraint,and demonstrate the effectiveness of the proposed mid-course guidance law.