基于微分博弈的导弹避撞协同制导律设计

doi:10.12305/j.issn.1001-506X.2025.08.24

摘要/Abstract

摘要：

针对导弹多对一追逃系统存在控制受限、目标可识别来袭进行躲避、集群计算量大和弹间易发生碰撞的问题，开展基于微分博弈的集散式避撞协同制导律研究。首先，将集群中的智能体分为领弹和从弹，针对领弹和目标，构建双方博弈对抗性能指标函数，结合自适应动态规划技术，对追逃双方最优控制策略进行在线求解，并利用Lyapunov法证明稳定性。然后，基于多智能体一致性理论和代数图论，以弹目相对距离为协调变量，结合滑模控制法，实现从弹间的分布式协同。最后，针对协调弹目相对距离时产生的碰撞问题，利用人工势场法，实现整个集群系统智能体间的避撞。仿真结果验证了当目标采取最优机动时，所提制导律的有效性。

关键词: 多对一追逃, 微分博弈, 分布式协同, 滑模控制, 人工势场法

Abstract:

To solve the problems of multi-to-one pursuit-evasion system of missiles, including limited control, target ability to actively identify incoming missiles and evade them, extensive cluster calculation, and potential collision between bombs, the distributed anti-collision cooperative guidance law based on differential game is studied. Firstly, agents in the cluster are divided into leaders and followers. A performance index function for the game confrontation between the two parties is constructed. The optimal control strategy of the chasing parties online by adaptive dynamics programming technology is solved. The stability is proved by Lyapunov method. Then, based on multi-agent consistency theory and algebraic graph theory, using the relative distance between the missile and the target as the coordinating variable, combined with the sliding mode control method, the distributed cooperation among followers is realized. Finally, to the problem of collision between agents when the relative distance is coordinated, the artificial potential field method is used to realize anti-collision. Simulation results verify the effectiveness of the guidance law proposed when the target adopts the optimal maneuver.

Key words: multi-to-one pursuit-evasion, differential game, distributed cooperation, sliding mode control, artificial potential field

中图分类号:

TP 273

杨知沐, 张绍杰, 张朝原, 王浩宇, 赵卯卯. 基于微分博弈的导弹避撞协同制导律设计[J]. 系统工程与电子技术, 2025, 47(8): 2667-2675.

Zhimu YANG, Shaojie ZHANG, Chaoyuan ZHANG, Haoyu WANG, Maomao ZHAO. Design of missile anti-collision cooperative guidance law based on differential game[J]. Systems Engineering and Electronics, 2025, 47(8): 2667-2675.

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飞行器	参数
飞行器	位置/m	航迹角/（°）	速度/（${\text{m}} \cdot {{\text{s}}^{{{ - 1}}}}$）
${M_1}$	（0,1300）	60	650
${M_2}$	（500,250）	45	650
${M_3}$	（750,200）	30	650
${M_4}$	（350,750）	30	650
$T$	（3600,2000）	130	550

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