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兵工学报 ›› 2025, Vol. 46 ›› Issue (6): 240739-.doi: 10.12382/bgxb.2024.0739

• 第二十七届中国科协年会学术论文专题 • 上一篇    下一篇

基于分布式凸优化的能量最优多向协同制导方法

王江1,2, 朱梓杨1,2, 李虹言1,2,*(), 王鹏1,2   

  1. 1 北京理工大学 宇航学院, 北京 100081
    2 北京理工大学 中国-阿联酋智能无人系统“一带一路”联合实验室, 北京 100081
  • 收稿日期:2024-08-27 上线日期:2025-06-28
  • 通讯作者:
  • 基金资助:
    国家自然科学基金项目(61827901); 中国博士后科学基金项目(2023M730169)

An Energy-optimal Relative-angle-constrained Cooperative Guidance Method Based on Distributed Convex Optimization

WANG Jiang1,2, ZHU Ziyang1,2, LI Hongyan1,2,*(), WANG Peng1,2   

  1. 1 School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
    2 China-UAE Belt and Road Joint Laboratory on Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing 100081, China
  • Received:2024-08-27 Online:2025-06-28

摘要:

多飞行器角度最优协同制导能够以最低能耗实现对机动目标的多向拦截,是制导领域的重要研究方向。现有最优协同制导方法需利用全局信息生成最优制导指令,故多采用集中式通信拓扑,而集中式通信可靠性较低,不利于实际应用。针对上述问题,基于分布式凸优化理论,提出一种分布式能量最优多向协同制导方法,以解决分布式信息局部性与协同指令全局最优性之间的矛盾。该方法基于广义弹道成型制导律(Generalized Trajectory Shaping Guidance Law,GTSG),通过解析推导飞行器控制能量与期望终端视线角的映射关系,以总控制能量为目标函数,并结合相对视线角约束构建分布式凸优化问题。提出扩展原始对偶算法,实现分布式全局寻优,实时协调飞行器期望视线角,使多飞行器在GTSG作用下以最小能耗协同拦截目标。仿真结果及其分析表明:相比于现有的集中式多向协同制导算法,所提方法无需依赖中心节点,同时兼顾了全局能量最优性。

关键词: 协同制导, 相对视线角约束, 能量最优, 分布式凸优化, 原始对偶算法, 目标机动

Abstract:

The angle-optimal cooperative guidance of multiple aerial vehicles enables multi-directional interception of maneuvering targets with minimal energy consumption,which is an important research direction in the field of guidance.The current optimal cooperative guidance methods depend on global information and centralized communication which has low reliability in practical applications.To address the issue mentioned above,an energy-optimal relative-angle-constrained cooperative guidance method based on distributed convex optimization is proposed to resolve the contradiction between the locality of distributed information and the global optimality of cooperative commands.Based on the generalized trajectory shaping guidance law (GTSG),the mapping relationship between aerial vehicle control energy and desired terminal line-of-sight (LOS) angle is derived.A convex objective function is formulated using total control energy,and the convex constraints are established based on relative LOS angle constraints,thereby constructing a distributed convex optimization problem.The extended primal-dual algorithm (EPDA) is then introduced to achieve distributed global optimization,enabling the real-time coordination of aerial vehicle LOS angles for minimum-energy interception.The simulated results and analysis demonstrate that the proposed method does not rely on a central node while ensuring global energy optimality compared with existing centralized angle-coordinated guidance algorithms.

Key words: cooperative guidance, relative LOS angle constraint, energy-optimal, distributed convex optimization, primal-dual algorithm, maneuvering target