Three-dimensional Leader-follower Cooperative Guidance Law with Impact Angle Constraints

doi:10.12382/bgxb.2023.0174

Abstract

Abstract:

A three-dimensional leader-follower cooperative guidance law is proposed for the salvo attack of multiple missiles against a maneuvering target with the desired angles of impact. A three-dimensional nonlinear guidance model for the multiple missiles is established based on the relative motion relationship of missile and target, in which it is not necessary to assum a small lead angle. The three-dimensional guidance laws of leader and followers in the normal and lateral directions to the LOS are designed, respectively, based on the second-order sliding mode control (SMC) theory and designed finite-time convergence SMC surface, which can improve the system convergence speed while suppressing chattering phenomenon. The proposed guidance law innovatively transforms the time consistency problem of the leader-following missiles into a second-order multiagent consensus tracking in the LOS direction of the followers, which achieves the time consistency of leader and followers and, effectively solves the practical problem of low guidance precision caused by the time-to-go estimation. Moreover, the proposed guidance algorithms are proved by strict Lyapunov stability, respectively. The simulated results show that the proposed three-dimensional leader-follower cooperative guidance law can effectively control the leader and followers to attack a maneuvering target with high precision at the desired angles of attack.

Key words: three-dimensional leader-followers, angle of attack constraint, time consistency, second-order sliding mode control, maneuvering target, consensus tracking

CLC Number:

TJ765.3

YOU Hao, CHANG Xinlong, ZHAO Jiufen, ZHANG Youhong, WANG Shunhong. Three-dimensional Leader-follower Cooperative Guidance Law with Impact Angle Constraints[J]. Acta Armamentarii, 2023, 44(11): 3369-3381.

Figures/Tables 12

References 31

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导弹与目标	初始位置/m	初始速度/(m·s^-1)	初始弹道倾角/(°)	初始弹道偏角/(°)	期望视线倾角/(°)	期望视线偏角/(°)
领弹	(4500,7000,4000)	320	-30	-25	-25	-25
从弹1	(4000,6000,4000)	310	-15	-30	-60	-40
从弹2	(3500,5500,4500)	320	15	20	-45	-75
从弹3	(4000,6000,3500)	300	25	15	-35	-60
目标	(9000,3000,9000)	110	10	15

导弹与目标	初始位置/m	初始速度/(m·s^-1)	初始弹道倾角/(°)	初始弹道偏角/(°)	期望视线倾角/(°)	期望视线偏角/(°)
领弹	(4500,7000,4000)	320	-30	-25	-25	-25
从弹1	(4000,6000,4000)	310	-15	-30	-60	-40
从弹2	(3500,5500,4500)	320	15	20	-45	-75
从弹3	(4000,6000,3500)	300	25	15	-35	-60
目标	(9000,3000,9000)	110	10	15

导弹与目标	初始位置/m	初始速度/(m·s^-1)	初始弹道倾角/(°)	初始弹道偏角/(°)	期望视线倾角/(°)	期望视线偏角/(°)
领弹	(6000,6000,6000)	300	-45	-30	-30	-30
从弹1	(5500,5500,5500)	290	-15	-10	-45	-15
从弹2	(5000,5000,6000)	300	-60	-60	-60	-45
从弹3	(5000,5500,6500)	280	-30	-50	-75	-60
目标	(9000,0,9000)	100	5	10

导弹与目标	初始位置/m	初始速度/(m·s^-1)	初始弹道倾角/(°)	初始弹道偏角/(°)	期望视线倾角/(°)	期望视线偏角/(°)
领弹	(6000,6000,6000)	300	-45	-30	-30	-30
从弹1	(5500,5500,5500)	290	-15	-10	-45	-15
从弹2	(5000,5000,6000)	300	-60	-60	-60	-45
从弹3	(5000,5500,6500)	280	-30	-50	-75	-60
目标	(9000,0,9000)	100	5	10

导弹	攻击时间/ s	脱靶量/ m	视线倾角误差/(°)	视线偏角误差/(°)
领弹	29.84	0.0916	0.0434	0.0292
从弹1	29.84	0.0863	0.0368	0.0383
从弹2	29.84	0.0938	0.0351	0.0415
从弹3	29.84	0.0766	0.0268	0.0308