多BTT导弹滚转通道姿态约束下的固定时间姿态协调控制

doi:10.12305/j.issn.1001-506X.2024.06.24

系统工程与电子技术 ›› 2024, Vol. 46 ›› Issue (6): 2065-2072.doi: 10.12305/j.issn.1001-506X.2024.06.24

• 制导、导航与控制 • 上一篇

多BTT导弹滚转通道姿态约束下的固定时间姿态协调控制

胡子晅¹, 周佳玲¹, 王利楠², 孙佳月³, 温广辉¹^,²^,*

1. 北京理工大学复杂环境智能感测技术工信部重点实验室, 北京 100081
2. 东南大学系统科学系, 江苏南京 211189
3. 东北大学流程工业综合自动化国家重点实验室, 辽宁沈阳 110819

收稿日期:2023-08-31 出版日期:2024-05-25 发布日期:2024-06-04
通讯作者: 温广辉
作者简介:胡子晅(1998—), 男, 硕士研究生, 主要研究方向为多智能体固定时间控制
周佳玲(1991—), 女, 副教授, 博士, 主要研究方向为协同制导与控制、群智协同控制与优化
王利楠(1996—), 男, 博士研究生, 主要研究方向为非线性控制、分布式非光滑控制
孙佳月(1990—), 女, 教授, 博士, 主要研究方向为随机系统的鲁棒与容错控制、分布式协同控制
温广辉(1983—), 男, 教授, 博士, 主要研究方向为分布式控制理论与控制工程、自主智能系统分析与控制
基金资助:
国家自然科学基金(62325304);国家自然科学基金(62376029);国家自然科学基金(62088101);国家自然科学基金(U22B2046);中国博士后科学基金(2023M730255)

Fixed-time coordinated attitude control for roll channels of multiple BTT missiles with attitude constraints

Zixuan HU¹, Jialing ZHOU¹, Linan WANG², Jiayue SUN³, Guanghui WEN¹^,²^,*

1. MIIT Key Laboratory of Complex-field Intelligent Exploration, Beijing Institute of Technology, Beijing 100081, China
2. Department of Systems Science School of Mathematics, Southeast University, Nanjing 211189, China
3. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China

Received:2023-08-31 Online:2024-05-25 Published:2024-06-04
Contact: Guanghui WEN

摘要/Abstract

摘要：

针对多倾斜转弯(bank-to-turn, BTT)导弹在姿态约束下的滚转通道一致性安全控制问题, 提出一种分布式固定时间姿态协调控制器。BTT导弹气动参数变化强烈、对机动要求高, 对控制器提出了响应速度快、抗干扰能力强、且需满足姿态受限约束等要求。针对上述问题, 基于固定时间控制技术、障碍Lyapunov函数, 结合多智能体系统协调控制理论, 对多枚BTT导弹滚转通道提出一种分布式固定时间姿态协调控制律。在所提协调控制律下, 所有BTT导弹的滚转角可在固定时间一致收敛至给定的参考指令信号, 且在控制过程中满足姿态约束条件。仿真结果表明了所提方法的有效性。

关键词: 多枚倾斜转弯导弹, 滚转通道, 固定时间控制, 状态约束, 协调控制

Abstract:

In view of the consensus safe control problem for roll channels of multiple bank-to-turn (BTT) missiles under attitude constraints, a distributed fixed-time attitude-coordination controller is proposed. Due to the significant variation in aerodynamic parameters and high maneuvering requirements of BTT missiles, as well as practical constraints on missile attitudes, the controller is required to have high response speed and strong ability of disturbance rejection. Within this context, a distributed fixed-time attitude coordination control law for the roll channels of multiple BTT missiles is proposed, which utilizes the fixed-time control technology, barrier Lyapunov function technology, and coordinated control theory of multi-agent systems. Under this coordination control law, the roll angles of all BTT missiles converge consistently to a given reference command signal within a fixed time and in the meanwhile satisfy the attitude constraints during the whole control course. Simulation results demonstrate the effectiveness of the proposed method.

Key words: multiple bank-to-turn (BTT) missiles, roll channels, fixed-time control, state constraint, coordination control

中图分类号:

TP13

胡子晅, 周佳玲, 王利楠, 孙佳月, 温广辉. 多BTT导弹滚转通道姿态约束下的固定时间姿态协调控制[J]. 系统工程与电子技术, 2024, 46(6): 2065-2072.

Zixuan HU, Jialing ZHOU, Linan WANG, Jiayue SUN, Guanghui WEN. Fixed-time coordinated attitude control for roll channels of multiple BTT missiles with attitude constraints[J]. Systems Engineering and Electronics, 2024, 46(6): 2065-2072.

图/表 5

参考文献 37

1	ZHOU J L , WU X J , LYU Y Z , et al. Recent progress on the study of multi-vehicle coordination in cooperative attack and defense: an overview[J]. Asian Journal of Control, 2022, 24 (2): 794- 809. doi: 10.1002/asjc.2685
2	温广辉, 周佳玲, 吕跃祖, 等. 多导弹协同作战中的分布式协调控制问题[J]. 指挥与控制学报, 2021, 7 (2): 137- 145. doi: 10.3969/j.issn.2096-0204.2021.02.0137
	WEN G H , ZHOU J L , LYU Y Z , et al. Distributed coordination control in multi-missile cooperative tasks[J]. Journal of Command and Control, 2021, 7 (2): 137- 145. doi: 10.3969/j.issn.2096-0204.2021.02.0137
3	肖增博, 雷虎民, 夏训辉. 多导弹协同作战关键技术研究与展望[J]. 飞航导弹, 2008, (6): 24-26, 50.
	XIAO Z B , LEI H M , XIA X H . Research and prospect on key technologies of multi-missile cooperative operation[J]. Winged Missiles Journal, 2008, (6): 24-26, 50.
4	槐泽鹏, 梁雪超, 王洪波, 等. 多弹协同及其智能化发展研究[J]. 战术导弹技术, 2019, (5): 77- 85.
	HUAI Z P , LIANG X C , WANG H B , et al. Research on multi-missile collaborative and its intelligence development[J]. Tactical Missile Technology, 2019, (5): 77- 85.
5	杨斌. 空中分布式作战概念及关键技术分析[J]. 电讯技术, 2022, 62 (6): 826- 835. doi: 10.3969/j.issn.1001-893x.2022.06.021
	YANG B . Concepts and key technology analysis for air distributed operations[J]. Telecommunication Engineering, 2022, 62 (6): 826- 835. doi: 10.3969/j.issn.1001-893x.2022.06.021
6	宋琛, 张蓬蓬. 分布式协同对未来制空作战的影响[J]. 飞航导弹, 2019, (11): 8- 11.
	SONG C , ZHANG P P . Influence of distributed cooperation on future air defense operations[J]. Aerodynamic Missile Journal, 2019, (11): 8- 11.
7	曾家有, 谢宇鹏. 分布式反舰作战特点及装备发展分析[J]. 战术导弹技术, 2020, (4): 183- 188.
	ZENG J Y , XIE Y P . Characteristics and equipment development on distributed anti-ship combat[J]. Tactical Missile Technology, 2020, (4): 183- 188.
8	朱志刚, 周凤岐. BTT导弹滚动通道变结构最终滑态控制系统设计[J]. 西北工业大学学报, 1995, (2): 292- 297.
	ZHU Z G , ZHOU F Q . On design of variable structure terminal sliding mode control system for roll channel of BTT missile[J]. Journal of Northwestern Polytechnical University, 1995, (2): 292- 297.
9	段广仁, 周净扬. BTT导弹滚动通道自动驾驶仪设计[J]. 黑龙江大学自然科学学报, 2005, 22 (5): 561-565, 569. doi: 10.3969/j.issn.1001-7011.2005.05.001
	DUAN G R , ZHOU J Y . Autopilot design of roll channel for BTT missiles[J]. Journal of Natural Science of Heilongjiang University, 2005, 22 (5): 561-565, 569. doi: 10.3969/j.issn.1001-7011.2005.05.001
10	汤柏涛, 董斌, 于云峰. BTT导弹滚转通道模型参考变结构自动驾驶仪设计[J]. 计算机测量与控制, 2011, 19 (1): 105- 107.
	TANG B T , DONG B , YU Y F . Autopilot design for BTT missile based on model reference variable structure control[J]. Computer Measurement & Control, 2011, 19 (1): 105- 107.
11	LI S , YANG J . Robust autopilot design for bank-to-turn missiles using disturbance observers[J]. IEEE Trans.on Aerospace and Electronic Systems, 2013, 49 (1): 558- 579. doi: 10.1109/TAES.2013.6404120
12	XU X Y, CUI X X, YU W B, et al. Design of missile roll autopilot based on linear extended state observer[C]//Proc. of the IEEE 34th Chinese Control and Decision Conference, 2022: 418-421.
13	于秀萍, 官英双. 基于H∞控制理论的BTT导弹自动驾驶仪设计[J]. 系统工程与电子技术, 2008, 30 (5): 905- 908. doi: 10.3321/j.issn:1001-506X.2008.05.032
	YU X P , GUAN Y S . Design of autopilot for BTT missile based on H∞ control theory[J]. Systems Engineering and Electronics, 2008, 30 (5): 905- 908. doi: 10.3321/j.issn:1001-506X.2008.05.032
14	DING X M , HU Y P , JIA R L , et al. A novel disturbance rejection control of roll channel for small air-to-surface missiles[J]. Applied Sciences, 2023, 13 (1): 389.
15	都海波, 李世华. 多BTT导弹滚动通道的有限时间姿态协调控制[C]//IEEE第三十一届中国控制会议, 2012: 445-450.
	DU H B, LI S H. Finite-time attitude cooperative control for roll channels of multiple BTT missiles[C]//Proc. of the IEEE 31st Chinese Control Conference, 2012: 445-450.
16	都海波, 李世华, 何怡刚, 等. 多枚倾斜转弯导弹的滚转通道之分布式有限时间姿态协调控制[J]. 控制理论与应用, 2013, 30 (8): 956- 963.
	DU H B , LI S H , HE Y G , et al. Distributed finite-time attitude cooperative control for roll channels of multiple bank-to-turn missiles[J]. Control Theory & Applications, 2013, 30 (8): 956- 963.
17	POLYAKOV A . Nonlinear feedback design for fixed-time stabilization of linear control systems[J]. IEEE Trans.on Automatic Control, 2012, 57 (8): 2106- 2110. doi: 10.1109/TAC.2011.2179869
18	董泽洪, 李颖晖, 吕茂隆, 等. 考虑输入受限的高超声速飞行器非奇异固定时间自适应切换控制[J]. 系统工程与电子技术, 2023, 45 (5): 1476- 1488.
	DONG Z H , LI Y H , LYU M L , et al. Singularity-free fixed-time adaptive switching control for hypersonic flight vehicle with input constraints[J]. Systems Engineering and Electro-nics, 2023, 45 (5): 1476- 1488.
19	ZHOU N , CHENG X D , SUN Z Q , et al. Fixed-time cooperative behavioral control for networked autonomous agents with second-order nonlinear dynamics[J]. IEEE Trans.on Cyberne-tics, 2022, 52 (9): 9504- 9518. doi: 10.1109/TCYB.2021.3057219
20	XIN S, SHI M, LI W, et al. Distributed fixed-time bipartite containment control of multi-agent systems with unknown disturbances[C]//Proc. of the 7th International Conference on Control, Robotics and Cybernetics, 2022: 69-73.
21	HU D , ZHANG S , ZOU A M . Velocity-free fixed-time attitude cooperative control for spacecraft formations under directed graphs[J]. International Journal of Robust and Nonlinear Control, 2021, 31 (8): 2905- 2927. doi: 10.1002/rnc.5427
22	HONG H F , WANG H . Fixed-time formation control for se-cond-order disturbed multi-agent systems under directed graph[J]. Symmetry, 2021, 13 (12): 2295. doi: 10.3390/sym13122295
23	白嘉琪, 王彦恺, 邢昊. 无人艇与四旋翼无人机固定时间异构编队控制[J]. 系统工程与电子技术, 2023, 45 (4): 1152- 1163.
	BAI J Q , WANG Y K , XING H . Fixed-time heterogeneous formation control of unmanned boats and quadrotor unmanned aerial vehicle[J]. Systems Engineering and Electronics, 2023, 45 (4): 1152- 1163.
24	符小卫, 陈子浩. 多无人机协同探测快速目标的控制方法设计[J]. 系统工程与电子技术, 2021, 43 (11): 3295- 3304. doi: 10.12305/j.issn.1001-506X.2021.11.30
	FU X W , CHEN Z H . Design of control method for multi-UAV cooperative detection of fast target[J]. Systems Engineering and Electronics, 2021, 43 (11): 3295- 3304. doi: 10.12305/j.issn.1001-506X.2021.11.30
25	LIU L , LIU Y J , TONG S . Fuzzy-based multierror constraint control for switched nonlinear systems and its applications[J]. IEEE Trans.on Fuzzy Systems, 2019, 27 (8): 1519- 1531.
26	LI D P , LIU Y J , TONG S C , et al. Neural networks-based adaptive control for nonlinear state constrained systems with input delay[J]. IEEE Trans.on Cybernetics, 2019, 49 (4): 1249- 1258.
27	梁乐成, 赵斌, 周军, 等. 部分约束下空中目标拦截制导控制一体化方法[J]. 系统工程与电子技术, 2023, 45 (4): 1134- 1143.
	LIANG L C , ZHAO B , ZHOU J , et al. Integrated guidance and control method against aerial target with partial constraints[J]. Systems Engineering and Electronics, 2023, 45 (4): 1134- 1143.
28	CHEN A Q , TANG L , LIU Y J , et al. Adaptive control for switched uncertain nonlinear systems with time-varying output constraint and input saturation[J]. International Journal of Adaptive Control and Signal Processing, 2019, 33 (9): 1344- 1358.
29	WANG C X , WU Y Q . Finite-time tracking control for strict-feedback nonlinear systems with full state constraints[J]. International Journal of Control, 2019, 92 (6): 1426- 1433.
30	ZHAO W , LIU Y J , LIU L . Observer-based adaptive fuzzy tracking control using integral barrier Lyapunov functionals for a nonlinear system with full state constraints[J]. IEEE-CAA Journal of Automatica Sinica, 2021, 8 (3): 617- 627.
31	YUAN F , LIU Y J , LIU L , et al. Adaptive neural consensus tracking control for nonlinear multiagent systems using integral barrier Lyapunov functionals[J]. IEEE Trans.on Neural Networks and Learning Systems, 2023, 34 (8): 4544- 4554.
32	QIAN C J , LIN W . A continuous feedback approach to global strong stabilization of nonlinear systems[J]. IEEE Trans.on Automatic Control, 2001, 46 (7): 1061- 1079.
33	HARDY G H , LITTLEWOOD J E , POLYA G . Inequalities[M]. Cambridge: Cambridge University Press, 1952.
34	ZOU A M , DE RUITER A H J , KUMAR K D . Distributed finite-time velocity-free attitude coordination control for spacecraft formations[J]. Automatica, 2016, 67, 46- 53.
35	ZOU A M , KUMAR K D , DE RUITER A H J . Fixed-time attitude tracking control for rigid spacecraft[J]. Automatica, 2020, 113, 108792.
36	HONG Y G , HU J P , GAO L X . Tracking control for multi-agent consensus with an active leader and variable topology[J]. Automatica, 2006, 42 (7): 1177- 1182.
37	PENG T K. Adaptive control of uncertain constrained nonlinear systems[D]. Singapore: National University of Singapore, 2008.

特征点	c_1i	c_2i
t₁(4.4 s)	1.264	1 787.048
t₂(11.7 s)	1.600	1 832.067
t₃(19.5 s)	1.636	2 128.877
t₄(23 s)	1.635	2 231.985
t₅(28 s)	1.607	3 045.292
t₆(35 s)	0.936	1 329.481
t₇(40 s)	0.644	818.706

[1]	徐文丰, 李颖晖, 裴彬彬, 禹志龙. 基于多模型MPC的变体飞机协调优化控制[J]. 系统工程与电子技术, 2023, 45(9): 2902-2911.
[2]	梁乐成, 赵斌, 周军, 赵万利. 部分约束下空中目标拦截制导控制一体化方法[J]. 系统工程与电子技术, 2023, 45(4): 1134-1143.
[3]	彭谦, 郭建国, 郭宗易, 王国庆. 多约束多输入拦截器姿轨一体化复合控制[J]. 系统工程与电子技术, 2023, 45(3): 806-813.
[4]	韩伟，汤子跃，朱振波. 利用ESM方位信息的多普勒盲区目标跟踪方法[J]. Journal of Systems Engineering and Electronics, 2013, 35(8): 1650-1656.
[5]	遆晓光，郝创洲. 吸气式高超声速飞行器抗航迹姿态解耦控制[J]. Journal of Systems Engineering and Electronics, 2013, 35(5): 1045-1048.
[6]	朱志斌, 王岩, 陈兴林. 分段状态约束非线性预测控制数值算法研究[J]. Journal of Systems Engineering and Electronics, 2009, 31(6): 1436-1440.

多BTT导弹滚转通道姿态约束下的固定时间姿态协调控制

Fixed-time coordinated attitude control for roll channels of multiple BTT missiles with attitude constraints

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 5

参考文献 37

相关文章 6

编辑推荐

Metrics

本文评价