Three-dimensional cooperative guidance law for multiple missiles with impact angle constraint

This paper proposes a cooperative guidance law for attacking a ground target with the impact angle constraint based on the motion camouflage strategy in the line-of-sight(LOS)frame.A dynamic model with the impact angle constraint is established according to the relative motion between multiple missiles and the target.The process of cooperative guidance law design is divided into two stages.Firstly,based on the undirected graph theory,a new finite-time consensus protocol on the LOS direction is derived to guarantee relative distances reach consensus.And the value of acceleration command is positive,which is beneficial for engineering realization.Secondly,the acceleration command on the normal direction of the LOS is designed based on motion camouflage and finite-time convergence,which can ensure the missiles reach the target with the desired angle and satisfy the motion camouflage state.The finitetime stability analysis is proved by the Lyapunov theory.Numerical simulations for stationary and maneuver targets have demonstrated the effectiveness of the cooperative guidance law proposed.

Three-dimensional impact angle constrained distributed cooperative guidance law for anti-ship missiles

This paper investigates the problem of distributed cooperative guidance law design for multiple anti-ship missiles in the three-dimensional(3-D)space hitting simultaneously the same target with considering the desired terminal impact angle constraint.To address this issue,the problem formulation including 3-D nonlinear mathematical model description,and communication topology are built firstly.Then the consensus variable is constructed using the available information and can reach consensus under the proposed acceleration command along the line-of-sight(LOS)which satisfies the impact time constraint.However,the normal accelerations are designed to guarantee the convergence of the LOS angular rate.Furthermore,consider the terminal impact angle constraints,a nonsingular terminal sliding mode(NTSM)control is introduced,and a finite time convergent control law of normal acceleration is proposed.The convergence of the proposed guidance law is proved by using the second Lyapunov stability method,and numerical simulations are also conducted to verify its effectiveness.The results indicate that the proposed cooperative guidance law can regulate the impact time error and impact angle error in finite time if the connecting time of the communication topology is longer than the required convergent time.

A Cooperative Distributed System for Real-Time Route Guidance

This paper describes a cooperative decentralized architecture for reactive real-time route guidance. The architecture is cooperative in the sense that it allows adjacent local controllers to exchange information regarding the traffic conditions in their territories. A set of local decision rules and associated heuristic functions to support the cooperative architecture are specified. A protocol governing the knowledge exchange among local adjacent controllers is developed. A simulation-assignment modeling framework is used for assessing the effectiveness of this cooperative architecture under various levels of controller knowledge and network traffic congestion. The cooperative decentralized system is tested under various scenarios of knowledge and cooperation and network traffic demand levels. The cooperative system is compared against the shortest path algorithm as a benchmark.

Multiple-stage spatial-temporal cooperative guidance without time-to-go estimation

This paper investigates the spatial-temporal cooperative guidance problem for multiple flight vehicles without relying on time-to-go information.First,a two-stage cooperative guidance strategy,namely the cooperative guidance and the Proportional Navigation Guidance(PNG)stage strategy,is developed to realize the spatial-temporal constraints in two dimensions.At the former stage,two controllers are designed and superimposed to satisfy both impact time consensus and impact angle constraints.Once the convergent conditions are satisfied,the flight vehicles will switch to the PNG stage to ensure zero miss distance.To further extend the results to three dimensions,a planar pursuit guidance stage is additionally imposed at the beginning of guidance.Due to the inde-pendence of time-to-go estimation,the proposed guidance strategy possesses great performance in satisfying complex spatial-temporal constraints even under flight speed variation.Finally,several numerical simulations are implemented to verify the effectiveness and advantages of the proposed results under different scenarios.

Cooperative guidance law with maneuverability awareness:A decentralized solution

In this paper,we propose a cooperative guidance law aimed to achieve coordinated impact angles with limited observation on target information.The primary challenge lies in establishing an appropriate communication graph among all missiles and devising an algorithm to estimate target acceleration information during engagements.To address this,we propose a specific communication topology and employ a numerical integration-based estimation method.Additionally,a distributed algorithm is introduced to facilitate consensus on target acceleration estimation.Building upon these foundations,we design an optimal-control-based distributed guidance law for each missile.Performance of the proposed guidance law is validated through numerical simulations.

Cooperative game penetration guidance for multiple hypersonic vehicles under safety critical framework

The rapid development of the anti-missile weapon technology brings new challenges to the cooperative penetration strategy solution and the guidance law design for Hypersonic Vehicles(HVs).This paper studies the coordinated game penetration guidance problem for multiple hypersonic vehicles faced with space threat areas.A scheme for seeking cooperative game penetration guidance strategy under safety critical control framework is presented.In this scheme,a multiHV cooperative game model is proposed in a minimum optimization form which can simplify the solving process and accelerate the computing speed.Then,a second-order control barrier function is developed to transform the implicit nonlinear constraints of the proposed model into linear ones.In order to obtain better performance of guidance strategy,a composite guidance law under the safety critical control framework is presented to allocate guidance strategies appropriately in the whole process.It is shown that the proposed scheme can guarantee successful penetration while avoiding threat areas.Finally,a comparative simulation with a two-on-three game is conducted to verify the effectiveness of the proposed method.

Cooperative guidance law based on super-twisting observer for target maneuvering

To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.

Consensus of multi-vehicle cooperative attack with stochastic multi-hop time-varying delay and actuator fault

A consensus-distributed fault-tolerant(CDFT)control law is proposed for a class of leader-following multi-vehicle cooperative attack(MVCA)systems in this paper.In particular,the switching communication topologies,stochastic multi-hop timevarying delays,and actuator faults are considered,which may lead to system performance degradation or on certain occasions even cause system instability.Firstly,the estimator of actuator faults for the following vehicle is designed to identify the actuator faults under a fixed topology.Then the CDFT control protocol and trajectory following error are derived by the relevant content of Lyapunov stability theory,the graph theory,and the matrix theory.The CDFT control protocol is proposed in the same manner,where a more realistic scenario is considered,in which the maximum trajectory following error and information on the switching topologies during the cooperative attack are available.Finally,numerical simulation are carried out to indicate that the proposed distributed fault-tolerant(DFT)control law is effective.

Cooperative interception with fast multiple model adaptive estimation

For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.

多平台网络化制导交接技术

面向多平台网络化协同制导导弹打击目标的实际需求,针对导弹交接过程中的过载异常突变问题,首先基于多平台交接过程分析网络化制导关键误差,明晰导弹过载异常突变机理,建立网络化制导交接基本模型;其次针对信息交接误差,基于虚拟目标信息的交接方式,设计基于匀加减速的虚拟目标网络化制导信息交接方法;最后对交接执行过程中的制导律差异问题,基于虚拟目标信息,提出一种多平台协同制导模式下的导弹制导交接控制律。仿真结果表明,新方法可以有效降低协同制导平台捕获目标信息存在误差而造成的异常过载,实现制导率变化下导弹交接过程过载的平稳过渡,有效提升作战效能。

通信速率约束下一体化角度协同制导控制方法

针对多飞行器协同拦截过程中的角度协同问题,设计了一种基于量化编码器的分布式一体化协同制导控制律。首先建立多飞行器协同制导与控制数学模型,并基于扩张状态观测器理论,对单个飞行器各状态进行观测。在此基础上考虑各飞行器间单次传输数据的字长、两次传输数据间隔的通信速率约束,采用量化器-编码器-解码器实现限制通信速率情况下的协同一体化制导控制设计。之后,通过严格的理论分析证明了满足强连通图有向通信网络下,多飞行器系统能够达成一致性且收敛到期望的相对视线角,并给出了满足收敛条件的参数选择范围。最后,通过数学仿真校验,验证了所提出的方法在较低的通信速率下能够完成协同。

针对机动目标的三维领从协同制导律

针对多飞行器协同拦截机动目标的实际需求,提出一种三维领从时空协同制导律。在视线方向上,基于齐次度理论和固定时间稳定理论设计一种领从协同制导律,确保从飞行器与领飞行器的相对距离和相对速度在固定时间内趋于一致,并且给出一致性误差收敛时间的上界,实现多飞行器的同时刻拦截。在视线法向上为实现以特定的碰撞角度拦截目标,设计一种固定时间收敛的非奇异终端滑模制导律,实现攻击角度的固定时间收敛,并避免了制导指令奇异引起的控制饱和问题。考虑到目标的机动对制导系统产生的不利影响,引入固定时间扰动观测器对目标加速度进行前馈补偿。运用李雅普诺夫稳定性理论来证明系统的固定时间稳定特性。通过仿真实验验证所设计制导律可以有效控制多飞行器在领从框架下同时打击机动目标,并以期望的终端角度攻击目标。

Leader-following cooperative guidance law with specified impact time

The problem of guidance law is investigated for multiple interceptors to attack a target cooperatively.A leader-following cooperative guidance strategy is presented to render the leader and the followers reach the target at specified impact time.The guidance law of leader is given to meet the demand of specified impact time.The arrival time is synchronized by enforcing the ranges-to-go of followers keep consensus with that of leader.The convergence time bound is estimated without dependence on the initial states,since the proposed leader-following cooperative guidance law is fixed-time convergent.The simulation is developed to validate the availability of proposed cooperative guidance law.

拦截机动目标的固定时间事件触发协同制导律

针对无向通信拓扑结构下的多枚导弹考虑角度约束同时攻击机动目标的问题,提出一种事件触发控制下的固定时间收敛分布式多弹协同制导律.首先,建立导弹-目标相对运动学模型,在视线坐标系下解耦为沿视线和垂直视线两个方向.其次,在视线切向考虑时间约束,提出一种基于事件触发机制的固定时间收敛协同制导律,保证攻击时间的一致性;在视线法向上考虑空间角度约束,提出一种基于固定时间收敛理论的分布式空间协同制导律,使视线角和视线角速率快速收敛到期望值,以满足脱靶量和终端角度约束;同时,针对目标机动引起的系统扰动,采用固定时间收敛的观测器进行在线估计与补偿.利用Lyapunov理论,证明了所提出协同制导律的稳定性.最后,通过数学仿真,验证了所提出的协同制导律的有效性.

大气层外动能拦截器制导控制技术研究进展与展望

大气层外高速、大机动、多目标飞行器的拦截问题已成为当前空天防御体系构建面临的重大挑战和难点。首先,对近年来国外大气层外动能拦截器技术及飞行试验现状进行了梳理和总结;其次,对大气层外单一拦截器制导控制方法和多弹协同拦截制导控制方法的研究进展进行了综述;最后,对大气层外动能拦截器未来重点开展的关键技术进行了展望,以期为未来大气层外动能拦截器技术发展提供方向性参考和借鉴。

基于行业特色载体的探测制导与控制专业校企协同育人机制构建

文章首先分析了国内外校企协同育人的经验,其次以哈尔滨工程大学探测制导与控制专业为对象,从产学实践教学体系、产学实践教学模式、毕业设计(论文)模式改革等方面提出了本专业校企协同育人机制构建,最后分析了本专业校企协同育人合作中存在的问题和障碍,并提出了产学融合的改革举措,以期助力探测制导与控制专业教育更好地适应行业需求。

具有角度和时间约束的固定时间协同制导律

针对多飞行器协同打击机动目标问题,提出一种具有终端角度约束和时间一致性约束的固定时间收敛协同中制导方法。建立二维场景下飞行器-目标视线(LOS)坐标系,将加速度分解为沿视线方向和与视线垂直方向。首先,基于代数图论和分布式合作协议算法,对飞行器的沿视线方向加速度进行设计,以保证多个飞行器的剩余飞行时间在固定时间内收敛至一致。其次,基于滑模控制理论和固定时间到达算法,构建飞行器视线法线方向加速度计算方法,使得视线角在固定时间内收敛到期望值。此外,针对目标加速度未知的问题,采用固定时间观测器进行估计,并在制导指令中进行补偿。仿真结果表明所提出的协同制导方法能够在固定时间内实现剩余飞行时间和视线角度的收敛。

考虑通信拓扑切换的多导弹协同制导研究

针对通信拓扑切换下多导弹协同打击问题,提出了一种基于切换策略的时空协同制导律。针对时间约束,结合一致性算法设计分布式制导律,并基于李雅普诺夫理论证明系统在有限时间收敛,可以实现同时打击。对于空间约束,采用弹道成型制导律使各导弹收敛到期望的视线角。设计切换策略,使得导弹能够同时实现时间和角度协同攻击。仿真分析验证了所设计制导律能在切换拓扑条件下和弹群失去1枚导弹的情况下实现齐射攻击和角度约束。

三维自适应固定时间多导弹协同制导律

针对三维空间内多导弹对机动目标同时攻击的问题,提出一种具有自适应律的三维多导弹固定时间协同制导律。建立三维空间导弹-目标动力学模型,以弹目视线方向和其垂直方向设计制导律,可保证剩余飞行时间和法向速度在固定时间内完成一致性收敛。采用自适应律来跟踪机动目标运动参数策略,提高多导弹系统的稳定性与对机动目标的打击精度。改进多导弹系统收敛条件,所设计的制导律具备了对攻击时间的约束能力。向制导律中加入饱和函数,避免因符号函数带来的系统抖振。通过仿真实验验证所提固定时间协同制导律的有效性及对抗通信拓扑切换的鲁棒性。实验结果表明:相较于对比文献所设计的制导律具有系统快速收敛以及高精度。

基于落角和时间约束的巡飞弹末端协同打击策略

为解决集群巡飞弹末制导阶段协同定向打击问题,提出了一种具有落角约束的巡飞弹末端协同打击策略。基于小偏差方法,推导了一种具有落角约束的偏置比例制导律,以解决纵向平面定向打击问题。结合所提制导方案,推导了综合考虑比例控制项和角度控制项剩余时间估计方法。在侧向平面内,设计了一种具有时变系数且不存在除零奇异问题的时间控制偏置项,以解决时间控制问题。此外,以剩余时间为协调变量,利用双层协同架构来解决多枚巡飞弹协同定向打击问题。仿真结果验证了该协同制导策略良好的落角控制和协同打击性能。