A Finite-time Cooperative Guidance Method Considering Cooperative Detection Efficiency

doi:10.3969/j.issn.1000-1093.2019.09.010

Abstract

Abstract: For the multiple missiles intercepting a maneuvering target cooperatively, a cooperative guidance method considering a cooperative detection geometry configuration is designed based on the finite-time control theory. For the first-order dynamics of the missiles, a cooperative interception model with detection geometry configuration is established according to the relative motion equations of particles and the principle of cooperative detection. The sufficient conditions for the finite time boundedness of system state and the finite time stability of system input and output are given based on the differential inequality theory. And on this basis, a finite time cooperative guidance method is designed. The proposed method uses the measurement matrix to characterize the dynamic quality of system state and output, and can ensure that the state and output of guidance system are bounded and stable within a finite time interval. The simulated results show that the proposed guidance method can ensure that the LOS separation angle converges to the preset angle, the LOS angular rate converges to zero, and the acceleration does not exceed the maximum physical limit when a target is maneuvering. Compared with proportional navigation and optimal guidance law, the proposed method has the advantages in cooperative detection and guidance. Key

Key words: missile, cooperativedetection, cooperativeguidance, finitetime, line-of-sightangle

CLC Number:

TJ765.3⁺1

ZHANG Shuai, GUO Yang, WANG Shicheng, WANG Shaobo. A Finite-time Cooperative Guidance Method Considering Cooperative Detection Efficiency[J]. Acta Armamentarii, 2019, 40(9): 1849-1859.

References

［1］姚郁, 郑天宇, 贺风华, 等.飞行器末制导中的几个热点问题与挑战［J］.航空学报,2015,36(8):2696-2716.
YAO Y, ZHENG T Y, HE F H, et al. Several hot issues and challenges in terminal guidance of flight vehicles［J］.Acta Aeronautica et Astronautica Sinica,2015,36(8):2696-2716.(in Chinese)
［2］付莹,汤子跃,孙永健.机载预警雷达协同探测航线优化［J］.红外与激光工程,2014,43(12): 4177-4185.
FU Y, TANG Z Y, SUN Y J. Cooperative detection routes optimization of AEW radar［J］. Infrared and Laser Engineering, 2014, 43(12):4177-4185. (in Chinese)
［3］韦道知, 肖军.基于BPGM-SME 和改进UKF 的双星多目标跟踪算法［J］.红外与激光工程,2017, 46(增刊1): 1-8.
WEI D Z, XIAO J. Double satellite multi-target tracking algorithm based on BPGM-SME and improved UKF［J］.Infrared and Laser Engineering,2017,46(S1):1-8. (in Chinese)
［4］祁炜,李侠,蔡万勇,等.多预警机协同探测能力及航线规划［J］.系统工程与电子技术,2016,38(12):2764-2768.
QI W, LI X,CAI W Y,et al.Multi-AEW cooperative detection capability and flight planning［J］.Systems Engineering and Electronics,2016,38(12):2764-2768.（in Chinese）
［5］ LIU Y F, QI N M, SHAN J J. Cooperative interception with double-line-of-sight-measuring［C］∥Proceedings of AIAA Guidance, Navigation, and Control Conference. Boston, MA，US：AIAA，2013：5112-5220.
［6］叶继坤, 雷虎民, 肖增博，等.基于普通分离原理的制导/估计综合设计方法［J］.航空学报,2011,32(1): 137-143.
YE J K, LEI H M, XIAO Z B, et al. Integration design method of estimation and guidance based on general separation theorem［J］. Acta Aeronautica et Astronautica Sinica, 2011, 32(1):137-143. (in Chinese)
［7］樊世杰,范红旗,肖怀铁，等.末制导中估计器与制导律设计方法新进展［J］.自动化学报,2015,41(1):38-46.
FAN S J,FAN H Q,XIAO H T,et al.New progress of estimator and guidance law design in terminal guidance［J］.Acta Automatica Sinica, 2015, 41(1):38-46. (in Chinese)
［8］孙雪娇,周锐,吴江，等.攻击机动目标的多导弹分布式协同制导律［J］.北京航空航天大学学报,2013,39(10):1403-1407.
SUN X J,ZHOU R,WU J,et al.Distributed cooperative guidance law for multiple missiles attacking maneuver target［J］.Journal of Beijing University of Aeronautics and Astronautics,2013,39(10):1403-1407. (in Chinese)
［9］赵启伦,陈建,董希旺，等.拦截高超声速目标的异类导弹协同制导律［J］.航空学报,2016,37(3):948-963.
ZHAO Q L,CHEN J,DONG X W,et al.Cooperative guidance law for heterogeneous missiles intercepting hypersonic weapon［J］.Acta Aeronautica et Astronautica Sinica,2016,37(3):948-963. (in Chinese)

［10］王青,后德龙,李君，等.存在时延和拓扑不确定的多弹分散化协同制导时间一致性分析［J］.兵工学报，2014,35(7):982-989.
WANG Q,HOU D L,LI J,et al.Consensus analysis of multi-missile decentralized cooperative guidance time with timedelays and topologies uncertainty［J］.Acta Armamentarii,2014, 35(7): 982-989.(in Chinese)
［11］ ZHANG Y A,WANG X L,WU H L.A distributed co-operative guidance law for salvo attack of multiple antiship missiles［J］.Chinese Journal of Aeronautics, 2015, 28(5): 1438-1450.
［12］张春妍,宋建梅,侯博，等.带落角和时间约束的网络化导弹协同制导律［J］.兵工学报,2016,37(3): 431-438.
ZHANG C Y, SONG J M, HOU B, et al.Cooperative guidance law with impact angle and impact time constraints for networked missiles［J］.Acta Armamentarii, 2016, 37(3): 431-438. (in Chinese)
［13］ FONOD R，SHIMA T. Estimation enhancement by cooperatively imposing relative intercept angles［J］. Journal of Guidance, Control, and Dynamics, 2017, 40(7):1711-1725.
［14］ SHAFERMAN V,SHIMA T.Cooperative optimal guidance laws for imposing a relative intercept angle［J］.Journal of Guidance, Control, and Dynamics, 2015, 38(8): 1395-1408.
［15］ BALHANCE N, WEISS M, SHIMA T.Cooperative guidance law for intrasalvo tracking［J］.Journal of Guidance, Control, and Dynamics, 2017, 40(6):1441-1456.
［16］ WEISS M,SHIMA T,CASTANEDA D,et al.Combined and co-operative minimum-effort guidance algorithms in an active aircraft defense scenario［J］.Journal of Guidance,Control, and Dynamics, 2017,40(5): 1241-1254.
［17］张帅,郭杨,王仕成.考虑探测构形的多飞行器协同探测与制导一体化设计［J］.宇航学报,2018,39(4):401-410.
ZHANG S,GUO Y,WANG S C.Integrated design of multi-aircraft cooperative detection and guidance considering the detection configuration［J］.Journal of Astronautics, 2018, 39(4): 401-410. (in Chinese)
［18］郭杨,姚郁,王仕成，等.一种基于有限时间理论的抗饱和制导律设计方法［J］.宇航学报, 2012, 33(2): 175-182.
GUO Y,YAO Y,WANG S C,et al.An anti-saturation guidance law designed by finite-time theory［J］.Journal of Astronautics, 2012, 33(2): 175-182. (in Chinese)
［19］郭杨,姚郁,王仕成，等.基于有限时间H2性能指标的导弹机动突防策略设计［J］.宇航学报, 2010,31(10):2289-2294.
GUO Y, YAO Y, WANG S C, et al. Finite-time H2 perfor- mance measure-based strategy de-sign［J］.Journal of Astronau-tics, 2010,31(10):2289-2294. (in Chinese)
［20］张帅,郭杨,王仕成.带有引诱角色的有限时间协同制导方法［J］.宇航学报,2018,39(3):308-317.
ZHANG S,GUO Y,WANG S C.Finite-time cooperative guidance method with a lure role［J］.Journal of Astronautics, 2018, 39(3): 308-317. (in Chinese)
［21］ ZHANG S,GUO Y,WANG S C.Cooperative intercept guidance of multiple aircraft with a lure role included ［J/OL］. ［2018-12-02］. International Journal of Aerospace Engineering, 2018. https:∥doi.org/ 10.1155/ 2018/ 4126807.
［22］吕腾,吕跃勇,李传江,等.带视线角约束的多导弹有限时间协同制导律［J］.兵工学报,2018,39(2):305-314.
L T, L Y Y, LI C J, et al.Finite time cooperative guidance law for multiple missiles with line-of-sight angle constraint［J］.Acta Armamentarii, 2018, 39(2): 305-314.(in Chinese)
［23］ GOLESTANI M,MOHAMMADZAMAN I.PID guidance law design using short time stability approach［J］. Aerospace Science and Technology,2015, 43(6):71-76.
［24］ GUO Y,YAO Y,WANG S C,et al.Maneuver control strategies to maximize prediction errors in ballistic middle phase［J］.Journal of Guidance, Control, and Dynamics,2013,36(4):1225-1234.
［25］ GUO Y,WANG S C,YAO Y,et al.Evader maneuver on consideration of energy consumption in flight vehicle interception scenarios［J］.Aerospace Science and Technology,2011,15(7):519-525.
［26］ GUO Y,YAO Y,WANG S C,et al. Input output finite-time stabilization of linear systems with finite time boundedness［J］.ISA Transactions,2014,53(4): 977-982.
［27］ AMATO F,CARANNANT G,TOMMASI G D,et al.Input-output finite-time stability of linear systems: necessary and sufficient conditions［J］.IEEE Transactions on Automatic Control,2012,57(12) :3051-3063.
［28］ SHAKED U,SUPLIN V.A new bounded real lemma representation for the continuous-time case［J］.IEEE Transactions on Automatic Control,2001,46(9):1420-1426.

第40卷
第9期2019 年9月兵工学报ACTA
ARMAMENTARIIVol.40No.9Sep.2019

[1]	SU Di, WANG Shaobo, ZHANG Cheng, CHEN Zhisheng, LIU Chaoyue. Projectile-borne Image Deblurring Algorithm Based on Generative Adversarial Networks [J]. Acta Armamentarii, 2024, 45(3): 855-863.
[2]	WANG Yuchen, WANG Wei, LI Ning, ZHU Zejun, SHI Zhongjiao. A Control Method for Roll Stabilization of Guided Missile with Large Angle of Attack [J]. Acta Armamentarii, 2024, 45(3): 774-788.
[3]	XU Wenxu, LI Zhao, LU Fandong. Accurate Evaluation Method for Damage Effectiveness of Anti-tank Missile Based on State Space [J]. Acta Armamentarii, 2024, 45(3): 810-817.
[4]	LEI Juanmian, GAO Yi, YONG Zheng. Numerical Investigation of the Jet Interference Characteristics of a Lateral-jet-controlled Spinning Missile [J]. Acta Armamentarii, 2024, 45(1): 105-121.
[5]	LIU Haobang, SHI Xianming, ZHAO Mei, ZHANG Jianjun. Bayesian Estimation of Surface-to-Air Missile Hit Probability Based on Normal-inverse Wishart Distribution [J]. Acta Armamentarii, 2024, 45(1): 339-348.
[6]	YU Jintao, XIAO Bing, CUI Yuzhu. Capability Evaluation of Air Defense and Anti-missile Early Warning System-of-systems Based on Node Importance and Improved Effectiveness Loop [J]. Acta Armamentarii, 2024, 45(1): 328-338.
[7]	SONG Jinchao, ZHAO Liangyu. Attitude Pursuit GuidanceLaw for Coning Motion Stability of Spinning Missiles [J]. Acta Armamentarii, 2023, 44(6): 1795-1808.
[8]	LIU Bing, CHENG Dong, LU Bingju, CHEN Xiaohan, LE Guigao. Modeling and Simulation of Transmedia Separation of Missile Ejected from Carrier with Adapter [J]. Acta Armamentarii, 2023, 44(5): 1237-1250.
[9]	NIU Cao, GU Guangxin, ZHU Lei, XU Hongbin, LI Zhengyu, ZHANG Weihong, CHEN Yongwei, WANG Bo, SHI Jianxiong, LI Yizhe. Finite Element Structural Analysis and Topology Optimization of a Vehicle-borne Missile Launching Cradle [J]. Acta Armamentarii, 2023, 44(2): 437-451.
[10]	HUANG Jun, WU Pengfei, LI Xiaobao, LIU Yue. Formation Recognition and Target Selection of Anti-ship Missile Based on Hough Transform and Optimized K-means Clustering [J]. Acta Armamentarii, 2023, 44(2): 472-483.
[11]	ZHANG Xin, LIN Fan, SHEN Xinjie. A Lag Angle Test Method for Actuators of Spinning Missiles Based on Improved SOGI-FLL [J]. Acta Armamentarii, 2023, 44(2): 428-436.
[12]	QIU Zhiming, CAO Yuan. Development Tendency of Terminal Anti-missile Small-caliber Gatling Gun Technology [J]. Acta Armamentarii, 2022, 43(S2): 1-6.
[13]	YANG Huadong, ZHOU Mo, SUN Haiwen. Integrated Design Method for Warship Platform Maneuver Route and Missile Attack Path [J]. Acta Armamentarii, 2022, 43(S2): 7-12.
[14]	LIU Zhenyu, LIU Bingqi, WANG Jiping, YANG Chunwei. Cooperative Guidance Law of Multiple Aircrafts with Field-of-view Constraints [J]. Acta Armamentarii, 2022, 43(S2): 71-77.
[15]	LEI Liang, ZHOU Danfa, ZHANG Ying, GU Cunfeng, LIU Rui. Life Cycle Cost Analysis and Control Strategy of Missile Weapons [J]. Acta Armamentarii, 2022, 43(S2): 107-114.