To keep multiple missiles to fly in a formation, a robust controller for missile formation is designed. Based on the leader-follower formation mode, two formation relative motion models in different coordinate frames ...To keep multiple missiles to fly in a formation, a robust controller for missile formation is designed. Based on the leader-follower formation mode, two formation relative motion models in different coordinate frames are established and compared. The three-dimension model built in a follower reference coordinate frame is chosen due to its control inputs decoupling, then this model is decoupled into three subsystems. For each subsystem a robust formation controller is proposed based on the disturbance observer and f＇mite-time control theory when the external disturbance exits. The stability of the closed-loop system adopting the controller is proved theoretically. Simulation resuits show that the follower can foUow the leader and keep the desired formation despite the external disturbance, which validates the effectiveness of the proposed robust formation controller.展开更多
This paper investigates the robust formation control for missiles with obstacle avoidance.A sliding mode surface that is asymptotically stable is firstly presented by the collision avoidance potential function and hyp...This paper investigates the robust formation control for missiles with obstacle avoidance.A sliding mode surface that is asymptotically stable is firstly presented by the collision avoidance potential function and hyperbolic tangent function.Based on the sliding mode surface,a robust formation controller with obstacle avoidance is designed for missiles.To improve the convergence rate,a finite-time controller which can deal with the formation control for missiles is given using an improved sliding mode surface.Finally,the effectiveness of the designed controllers for missiles is demonstrated by the Lyapunov theory and simulation results.展开更多
基金Supported by the National Natural Science Foundation of China(10872029)
文摘To keep multiple missiles to fly in a formation, a robust controller for missile formation is designed. Based on the leader-follower formation mode, two formation relative motion models in different coordinate frames are established and compared. The three-dimension model built in a follower reference coordinate frame is chosen due to its control inputs decoupling, then this model is decoupled into three subsystems. For each subsystem a robust formation controller is proposed based on the disturbance observer and f＇mite-time control theory when the external disturbance exits. The stability of the closed-loop system adopting the controller is proved theoretically. Simulation resuits show that the follower can foUow the leader and keep the desired formation despite the external disturbance, which validates the effectiveness of the proposed robust formation controller.
基金supported by the National Natural Science Foundation of China(No.61803307,62111530051)Aeronautical Science Foundation of China(No.201901053004)+2 种基金Natural Science Basic Research Plan in Shaanxi Province of China(No.2020JQ-209)China Postdoctoral Science Foundation(No.2020M683565)the Fundamental Research Funds for the Central Universities(No.3102020ZDHKY05).
文摘This paper investigates the robust formation control for missiles with obstacle avoidance.A sliding mode surface that is asymptotically stable is firstly presented by the collision avoidance potential function and hyperbolic tangent function.Based on the sliding mode surface,a robust formation controller with obstacle avoidance is designed for missiles.To improve the convergence rate,a finite-time controller which can deal with the formation control for missiles is given using an improved sliding mode surface.Finally,the effectiveness of the designed controllers for missiles is demonstrated by the Lyapunov theory and simulation results.
