带多约束的多弹分布式自适应协同导引律

doi:10.3969/j.issn.1001-506X.2021.01.22

Abstract

Abstract:

Aiming at the terminal guidance section of networked guided projectile, while striking near shore maneuvering target, the distributed fuzzy adaptive cooperative guidance law is proposed based on synergetic consistency and Lyapunov stability theory. Considering impact angle constraint and the limited line of sight (LOS) angle rate measurement, the state space of cooperative guidance system is constructed. The extended state observer (ESO) is designed to observe the uncertain disturbances in the tangent, normal and lateral direction of LOS rapidly and accurately. In the tangent direction of LOS, the distributed cooperative control is designed by using integral sliding mode to ensure that the impact time tends to be same in finite time. In the normal and lateral direction of the LOS, a nonsingular terminal sliding mode with adaptive exponential reaching law is designed. The information of relative distance between missile and target and approach rate are used to make the LOS angle tracking error and LOS angle rate converge to zero in finite time. The fuzzy adaptive system (FAS) with universal approximation is introduced, which not only eliminates the high-frequency chattering induced by the sliding mode switching term, but ensures that the system is uniformly ultimately bounded (UUB). Simulation experiment shows that the guidance law enables the networking ammunition to attack maneuvering targets with better guidance performance compared with nonsingular terminal sliding mode method.

Key words: multiple constraints, distributed cooperation, fuzzy adaptive, extended state observer (ESO)

CLC Number:

TJ413.+6

Shiyan SUN, Shang JIANG, Fuqing TIAN, Weige LIANG. Distributed adaptive cooperative guidance law of multiple projectiles with multiple constraints[J]. Systems Engineering and Electronics, 2021, 43(1): 181-190.

Figures/Tables 10

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References 30

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弹药节点	(x_P₀i, y_P₀i, z_P₀i) m	v_{P_i} m/s	θ_{P_i} (°)	Ψ_{P_i} (°)	θ_{Qf_i} (°)	Ψ_{Qf_i} (°)
P₁	(0, 4 000, 0)	330	-7	0	-70	0
P₂	(200, 3 800, 200)	350	-5	-5	-65	-10
P₃	(100, 4 200, -200)	370	-10	5	-75	10

(x_T₇, y_T₇, z_T₇)/m	v_T/(m/s)	θ_T/(°)	Ψ_T/(°)
(5 000, 0, 50)	30	0	0

参数	值
β_γ1	5
β_γ2	60
β_γ3	450
σ_γ1	0.025
σ_γ2	0.01
η_γ1	0.03
η_γ2	0.06
c_γ3	1.5
k_γ	5
β_θ1	8
β_θ2	80
β_θ3	700
σ_θ1	0.025
σ_θ2	0.01
η_θ1	0.03
η_θ2	0.06
c_θ	2
k_θ	7
β_Ψ1	6
βΨ₂	60
β_Ψ3	600
σ_Ψ1	0.025
σ_Ψ2	0.01
η_Ψ1	0.03
η_Ψ2	0.06
c_Ψ	1
k_Ψ	5
λ_γ	80
λ_θ	100
λ_Ψ	87
c_γ1	2
c_γ2	4
ρ_θ	15
ρ_Ψ	13
φ_θ	1.5
φ_Ψ	1.5

导引律	弹药节点	脱靶量/m	命中时间/s	θ_{Qf_i}误差/(°)	Ψ_{Qf_i}误差/(°)
DFACGL	P₁	0.27	28.18	0.19	0.11
	P₂	0.30	28.18	0.24	0.13
	P₃	0.28	28.18	0.22	0.12
SMCGL	P₁	0.94	28.85	0.83	0.41
	P₂	1.01	28.85	0.89	0.44
	P₃	0.96	28.85	0.86	0.42

导引律	弹药节点	脱靶量/m	命中时间/s	θ_{Qf_i}误差/(°)	Ψ_{Qf_i}误差/(°)
DFACGL	P₁	0.31	28.37	0.24	0.12
	P₂	0.34	28.37	0.28	0.15
	P₃	0.33	28.37	0.25	0.13
SMCGL	P₁	0.99	29.04	0.91	0.45
	P₂	1.12	29.04	0.96	0.51
	P₃	1.05	29.04	0.93	0.48

Distributed adaptive cooperative guidance law of multiple projectiles with multiple constraints

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