引用本文:杨鹤鸣,李勇,张飞,王一冲,李聪.考虑探测效能的空空导弹分布式协同中制导律[J].控制理论与应用,2024,41(4):638~648.[点击复制]
YANG He-ming,LI Yong,ZHANG Fei,WANG Yi-chong,LI Cong.Guidance law in distributed cooperative air-to-air missile considering detection effectiveness[J].Control Theory and Technology,2024,41(4):638~648.[点击复制]
考虑探测效能的空空导弹分布式协同中制导律
Guidance law in distributed cooperative air-to-air missile considering detection effectiveness
摘要点击 3178  全文点击 229  投稿时间：2022-01-18  修订日期：2024-03-04
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DOI编号  10.7641/CTA.2023.20055
  2024,41(4):638-648
中文关键词  多智能体体系  时空协同中制导律  分布式控制  协同探测  虚拟导引点  最优控制
英文关键词  multi-agent system  spatio-temporal cooperative guidance law  distributed control  cooperative detection  virtual guidance point  optimal control
基金项目  
作者单位E-mail
杨鹤鸣* 上海机电工程研究所 379558013@qq.com 
李勇 上海机电工程研究所  
张飞 上海机电工程研究所  
王一冲 上海机电工程研究所  
李聪 上海机电工程研究所  
中文摘要
      本文以多枚空空导弹逆轨拦截高速运动目标为背景, 提出了一种以协同探测为终端约束的分布式协同中制导律. 通过对误差源和误差传递链路进行分析, 建立了中末交班概率计算模型, 基于虚拟导引点研究了协同视场拼接方法. 在视线法向, 针对位置协同和角度协同等约束条件, 设计了基于高斯伪谱法的最优制导律. 在视线方向,基于二阶多智能体一致性理论, 设计了分布式时间协同制导律, 构造李雅普诺夫泛函证明了该方法可使系统在有限时间达到稳定, 并推导出了一致性时间上界. 仿真结果表明该制导律可使多弹以各自期望的视线角同时到达指定交班区域, 实现视场拼接、协同探测的需求, 有效提高了中末交班概率
英文摘要
      With multiple air-to-air missiles intercepting high-speed moving targets against the trajectory as a background, a distributed cooperative mid-guidance law with coordinated detection as the terminal constraint is proposed. By analyzing the error source and the error transmission link, a calculation model of the mid-end handover probability is established, and the collaborative visual field splicing method is studied based on the virtual guide point. In the normal direction of the line of sight, an optimal guidance law based on Gaussian pseudospectral method is designed for the constraint conditions such as position coordination and angle coordination. In the line of sight, based on the second-order multi-agent consistency theory, a distributed time cooperative guidance law is designed, and the Lyapunov functional is constructed to prove that the method can stabilize the system in a finite time, and the upper bound of the consistency time is derived. The simulation results show that the guidance law can enable multiple missiles to reach the designated handover area at the same time with their respective expected line-of-sight angles, realizing the needs of field of view splicing and cooperative detection and effectively improving the probability of middle-end handover.