The distributed cooperative decision problems of missiles autonomous formation with network packet loss are investigated by using the potential game based on formation principles.In particular,a dynamic target allocat...The distributed cooperative decision problems of missiles autonomous formation with network packet loss are investigated by using the potential game based on formation principles.In particular,a dynamic target allocation method for missiles formation is provided based on the potential game and formation principles,after the introduction of cooperative guidance and control system of the missiles formation.Then we seek the optimization of a global utility function through autonomous missiles that are capable of making individually rational decisions to optimize their own utility functions.The first important aspect of the problem is to design an individual utility function considering the characteristics of the missiles formation,with which the objective of the missiles are localized to each missile yet aligned with the global utility function.The second is to equip the missiles with an appropriate coordination mechanism with each missile pursuing the optimization of its own utility function.We present the design procedure for the utility,and present a coordination mechanism based on spatial adaptive play and then introduce the idea of“cyclical selected spatial adaptive play”and“negotiation based on time division multiple address(TDMA)protocol formation support network”.Finally,we present simulations for the distributed dynamic target allocation on the comprehensive digital simulation system,and the results illustrate the effectiveness and engineering applicability of the method.展开更多
This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant forma...This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant formation tracking process for the multiple cruise missile system is divided into the guidance loop and the control loop. Then protocols are constructed to accomplish distributed fault-tolerant formation tracking in the guidance loop with the adaptive updating mechanism, in the condition where neither the knowledge about actuator malfunctions nor any global information of the communication topology remains available. Moreover, sufficient conditions to accomplish formation tracking are presented, and it is shown that the multiple cruise missile system can carry on the predefined time-varying fault-tolerant control (FTC) formation tracking through the active disturbances rejection controller (ADRC) and the proportion integration (PI) controller by the way of the fault-tolerant protocol utilizing the designed strategies, in the event of actuator failures. At last, numerical analysis and simulation are designed to verify the theoretical results.展开更多
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 Industrial Technology Development Program(B1120131046)
文摘The distributed cooperative decision problems of missiles autonomous formation with network packet loss are investigated by using the potential game based on formation principles.In particular,a dynamic target allocation method for missiles formation is provided based on the potential game and formation principles,after the introduction of cooperative guidance and control system of the missiles formation.Then we seek the optimization of a global utility function through autonomous missiles that are capable of making individually rational decisions to optimize their own utility functions.The first important aspect of the problem is to design an individual utility function considering the characteristics of the missiles formation,with which the objective of the missiles are localized to each missile yet aligned with the global utility function.The second is to equip the missiles with an appropriate coordination mechanism with each missile pursuing the optimization of its own utility function.We present the design procedure for the utility,and present a coordination mechanism based on spatial adaptive play and then introduce the idea of“cyclical selected spatial adaptive play”and“negotiation based on time division multiple address(TDMA)protocol formation support network”.Finally,we present simulations for the distributed dynamic target allocation on the comprehensive digital simulation system,and the results illustrate the effectiveness and engineering applicability of the method.
基金supported by the Natural Science Foundation of China(61101004 61803014)
文摘This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant formation tracking process for the multiple cruise missile system is divided into the guidance loop and the control loop. Then protocols are constructed to accomplish distributed fault-tolerant formation tracking in the guidance loop with the adaptive updating mechanism, in the condition where neither the knowledge about actuator malfunctions nor any global information of the communication topology remains available. Moreover, sufficient conditions to accomplish formation tracking are presented, and it is shown that the multiple cruise missile system can carry on the predefined time-varying fault-tolerant control (FTC) formation tracking through the active disturbances rejection controller (ADRC) and the proportion integration (PI) controller by the way of the fault-tolerant protocol utilizing the designed strategies, in the event of actuator failures. At last, numerical analysis and simulation are designed to verify the theoretical results.
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.
