一种带时间协同和角度约束的多导弹三维协同制导律

A 3D cooperative guidance law for multiple missiles with line-of-sight angle constraint

中文关键词  协同制导律  有限时间一致性  固定时间收敛  终端滑模  扩张状态观测器

英文关键词  cooperative guidance law  finite-time consensus  fixed-time convergence: terminal sliding mode  extended state observer

中文摘要

      针对多枚导弹在三维空间从不同初始位置同时拦截机动目标的问题, 设计了一种带视线角约束的有限时 间协同制导律. 首先, 给出三维空间的导弹–目标相对运动方程并建立了考虑视线角约束的多弹协同制导模型. 其 次, 对视线纵向及法向方向分别设计了相应的协同制导律. 其中在视线方向基于多智能体有限时间一致性理论设计 了协同制导律, 保证各拦截弹能够同时击中目标; 基于一种新型的固定时间非奇异终端滑模控制方法设计了视线 法向上的角度约束制导律, 使各拦截弹的视线角能够在固定时间内收敛至期望值, 实现空间上的协同; 同时, 构造了 扩张状态观测器估计目标加速度. 最后, 对三枚导弹同时拦截同一机动目标的情况进行仿真对比, 验证了本文所提 出协同制导律的有效性.

英文摘要

      For the problem of multiple missiles cooperatively intercepting a maneuvering target, based on finite-time consensus theory, a three-dimensional (3D) cooperative guidance law with line-of-sight (LOS) angle constraints is proposed. Firstly, based on 3D missiles-target relative motion equations, the multi-missile cooperative guidance model with the LOS angle constraint is 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 finite-time consensus theory, which can guarantee the consensus of all missiles’ impact times in finite time. In the second stage, a 3D impact-angle-control guidance law is proposed based on the approaches of nonsingular terminal sliding mode control and fixed-time convergence theory to intercept a maneuvering target, with the use of the approaches of nonsingular terminal sliding mode control and fixed-time convergence theory, 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 fixed-time. An extended state observer is constructed to estimate the target acceleration. Finally, numerical simulations of three missiles intercepting a maneuvering target demonstrate the effectiveness of the proposed guidance law.