Consensus Analysis of Multi-missile Decentralized Cooperative Guidance Time with Time-delays and Topologies Uncertainty

doi:10.3969/j.issn.1000-1093.2014.07.007

Abstract

Abstract: The multi-missile cooperative salvo attack problem with communication time-delay and topological structure uncertainty in fixed topology and dynamic switching topology is studied. Based on graph theory, the asymptotic consensus problem of multi-missile cooperative guidance time is converted to the asymptotic stability problem of different system. Then the asymptotic stability problem of different system with network transmission delay and topological structure uncertainty is analyzed based on Lyapunov function method. The method can get the condition of time-delays which satisfy the asymptotic consensus. This method is expanded to the situation of network transmission time-delay and topological structure uncertainty under switching topology for the analysis of guidance time consensus. The simulation results are coincident with the theoretical consensus analysis.

Key words: control science and technology, distributed control system, network time-delay, topology uncertainty, switching topology, consensus

CLC Number:

TJ765

WANG Qing, HOU De-long, LI Jun, DONG Chao-yang. Consensus Analysis of Multi-missile Decentralized Cooperative Guidance Time with Time-delays and Topologies Uncertainty[J]. Acta Armamentarii, 2014, 35(7): 982-989.

References

［1］王建青, 李帆, 赵建辉, 等. 多导弹协同制导律综述［J］. 飞行力学, 2011, 29(4): 6-10.
WANG Jian-qing, LI Fan, ZHAO Jian-hui, et al. Summary of guidance law based cooperative attack of multi-missile method［J］. Flight Dynamics, 2011, 29(4): 6-10. (in Chinese)
［2］张友安, 马国欣, 王兴平. 多导弹时间协同制导: 一种领弹被领弹策略［J］. 航空学报, 2009, 30(6): 1109-1118.
ZHANG You-an, MA Guo-xin, WANG Xing-ping. Time-cooperative guidance for multi-missiles: a leader-follower strategy［J］. Acta Aeronautica et Astronautica Sinica, 2009, 30(6): 1109-1118. (in Chinese)
［3］王昊宇, 徐学强, 房玉军. 网络化协同打击弹药技术［J］. 兵工学报, 2010, 31(增刊2): 136-139.
WANG Hao-yu, XU Xue-qiang, FANG Yu-jun. Networked co-operative attack ammunition technology［J］. Acta Armamentarii, 2010, 31(S2): 136-139. (in Chinese)
［4］彭琛, 刘星, 吴森堂, 等. 多弹分散化协同末制导时间一致性研究［J］. 控制与决策, 2007, 25(10): 1557-1562.
PENG Chen, LIU Xing, WU Sen-tang, et al. Consensus problems in distributed cooperative terminal guidance time of multi-missiles［J］. Control and Decision, 2007, 25(10): 1557-1562. (in Chinese)
［5］ Jeon I S, Lee J I, Tahk M J. Impact-time-control guidance law for anti-ship missiles［J］. IEEE Transactions on Control Systems Technology, 2006, 14(2): 260-266.
［6］赵世钰, 周锐. 基于协调变量的多导弹协同制导［J］. 航空学报, 2008, 29(6): 1605-1611.
ZHAO Shi-yu, ZHOU Rui. Multi-missile cooperative guidance using coordination variables［J］. Acta Aeronautica et Astronautica Sinica, 2008, 29(6): 1605-1611. (in Chinese)
［7］于镝, 伍清河, 王寅秋. 高阶多智能体网络在固定和动态拓扑下的一致性分析［J］. 兵工学报, 2012, 33(1): 56-62.
YU Di, WU Qing-he, WANG Yin-qiu. Consensus analysis of high-order multi-agent network in fixed and dynamical switching topology［J］. Acta Armamentarii, 2012, 33(1): 56-62. (in Chinese)
［8］ Olfati-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays［J］. IEEE Transactions on Automatic Control. 2004, 49(9): 1520-1533.
［9］张庆杰, 沈林成, 朱华勇. 多智能体系统实现鲁棒一致的时延相关稳定判据［J］. 控制与决策, 2012, 27(4): 584-592.
ZHANG Qing-jie, SHEN Lin-cheng, ZHU Hua-yong. Delay-dependent stability criteria for robust consensus of multi-agent systems［J］. Control and Decision, 2012, 27(4): 584-592. (in Chinese)
［10］张保群, 宋申民, 陈兴林. 带时延和拓扑切换的编队卫星鲁棒协同控制［J］. 宇航学报, 2012, 33(7): 910-919.
ZHANG Bao-qun, SONG Shen-min, CHEN Xing-lin. Robust coordinated control for formation flying satellites with time delays and switching topologies［J］. Journal of Astronautics, 2012, 33(7): 910-919. (in Chinese)
［11］胡庆雷, 周稼康, 马广富. 无需角速度的含通信时延卫星编队飞行自适应姿态协同跟踪控制［J］. 自动化学报, 2012, 38(3): 462-468.
HU Qing-lei, ZHOU Jia-kang, MA Guang-fu. Angle velocity free attitude synchronization adaptive tracking control for satellite formation flying with time-varying delays［J］. Acta Automatica Sinica, 2012, 38(3): 462-468. (in Chinese)
［12］ Proskurnikov A V. Average consensus in networks with nonli-nearly delayed couplings and switching topology［J］. Automatica, 2013, 49(9): 2928-2932.
［13］孙惠泉. 图论及其应用［M］. 北京: 科学出版社, 2004.
SUN Hui-quan. Graph theory and its application［M］. Beijing: Science Press,2004. (in Chinese)
［14］ Sun Y G, Wang L. Consensus of multi-agent systems in directed networks with nonuniform time-varying delays［J］. IEEE Transactions on Automatic Control. 2009, 54(7): 1607-1613.
［15］ Sun Y G, Wang L, Xie G. Average consensus in networks of dynamic agents with switching topologies and multiple time-varying delays［J］. Systems & Control Letters, 2008, 57(2): 175-183.
［16］ El Ghaoui L, Feron E, Balakrishnan V. Linear matrix inequalities in system and control theory［M］. Philadelphia: Society for Industrial and Applied Mathematics, 1994.

[1]	ZHANG Jixiong, LI Zonggang, NING Xiaogang, CHEN Yinjuan. Fully Distributed Consensus Control of General Linear Multi-agent System Based on Dynamic Event-trigger [J]. Acta Armamentarii, 2023, 44(S2): 223-234.
[2]	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.
[3]	CHEN Gang， YAO Liya， WANG Guoxin， SHANG Xiwen， CHEN Wang， YAN Yan， MING Zhenjun. A Human-Machine Consensus Formation Method for Robust Decision Making in Battlefield Situation Assessment [J]. Acta Armamentarii, 2022, 43(11): 2953-2964.
[4]	WANG Ning， LI Yinya， QI Guoqing， SHENG Andong. Information Consensus-based Distributed Cubature Kalman Filtering Algorithm with Intermittent Observations [J]. Acta Armamentarii, 2021, 42(11): 2396-2408.
[5]	LI Wen， SHANG Teng， YAO Yinwei， ZHAO Qilun. Research on Time-cooperative Guidance of Multiple Flight Vehicles with Time-varying Velocity [J]. Acta Armamentarii, 2020, 41(6): 1096-1110.
[6]	ZHOU Shaolei, ZHAO Xueyuan, QI Yahui, WANG Shuailei. H_∞ Consensus Control of Multi-agent Systems with Transient Response under Directed Switching Topology [J]. Acta Armamentarii, 2020, 41(2): 356-365.
[7]	CHEN Ye, SHENG An-dong, QI Guo-qing, LI Yin-ya. Event-triggered Kalman Consensus Filter with Intermittent Measurements and Its Application to the Electro-optical Sensor Network [J]. Acta Armamentarii, 2018, 39(4): 625-634.
[8]	YE Peng-peng, SHENG An-dong, ZHANG Jiao， WU Zhao-bin， QI Guo-qing， LI Yin-ya. Cooperative Guidance of Multi-missile with Unsustainable Connected Communication Topology [J]. Acta Armamentarii, 2018, 39(3): 474-484.
[9]	CAO Hao-zhe， WU Yan-xuan， ZHOU Feng， WANG Zheng-jie. Research on Containment Control of Second-order Nonlinear Multi-agent with Collision Avoidance Mechanism [J]. Acta Armamentarii, 2016, 37(9): 1646-1654.
[10]	LI Dian-qi， DUAN Yong. Implementation of Active Disturbance Rejection Control of Robot by Tracking Differentiator [J]. Acta Armamentarii, 2016, 37(9): 1721-1729.
[11]	MENG Ke-zi, ZHOU Di. H_∞ Guidance Law Accounting for Dynamics of Missile Autopilot [J]. Acta Armamentarii, 2016, 37(7): 1194-1202.
[12]	WANG Jie， XIONG Zhi， XING Li， DAI Yi-jie, HUA Bing, LIU Jian-ye. Online Calibration of IMU errors of Inertial Navigation System Based on Innovation-based Adaptive Filtering [J]. Acta Armamentarii, 2016, 37(7): 1203-1213.
[13]	ZHANG Fu-bin, MA Peng, WANG Zhi-hui. SINS/DVL Integrated Navigation Algorithm Based on Transversal Coordinate Frame in Polar Region [J]. Acta Armamentarii, 2016, 37(7): 1229-1235.
[14]	YU Xiao-ting， YU Feng， HE Zhen， XIONG Zhi， WANG Zhen-yu. Virtual Sliding Mode Control-based Attitude Estimation for Non-cooperative Spacecraft [J]. Acta Armamentarii, 2016, 37(7): 1282-1290.
[15]	DUAN Mei-jun, ZHOU Di. A Guidance Law with Finite Time under Control Variable Constraint [J]. Acta Armamentarii, 2016, 37(6): 1030-1037.