Three-dimensional Leader-follower Cooperative Guidance Law for Maneuvering Targets

Wei WANG; Zhichen YU; Shiyao LIN; Jing YANG; Hong WANG

doi:10.12382/bgxb.2023.0777

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Three-dimensional Leader-follower Cooperative Guidance Law for Maneuvering Targets

更新时间：2025-08-18

- Three-dimensional Leader-follower Cooperative Guidance Law for Maneuvering Targets
- Acta Armamentarii Vol. 45, Issue 10, Pages: 3538-3554(2024)
- 作者机构：
  
  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
  3. 中国兵器科学研究院, 北京 100089
  4. 西北工业集团有限公司, 西安陕西 710043
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2023.0777
  CLC：
- Received：22 August 2023，
  
  Published Online：30 October 2024，
  
  Published：31 October 2024
- 稿件说明：
移动端阅览
Wei WANG, Zhichen YU, Shiyao LIN, et al. Three-dimensional Leader-follower Cooperative Guidance Law for Maneuvering Targets[J]. Acta Armamentarii, 2024, 45(10): 3538-3554.
DOI：

Wei WANG, Zhichen YU, Shiyao LIN, et al. Three-dimensional Leader-follower Cooperative Guidance Law for Maneuvering Targets[J]. Acta Armamentarii, 2024, 45(10): 3538-3554. DOI： 10.12382/bgxb.2023.0777.

摘要

针对多飞行器协同拦截机动目标的实际需求

提出一种三维领从时空协同制导律。在视线方向上

基于齐次度理论和固定时间稳定理论设计一种领从协同制导律

确保从飞行器与领飞行器的相对距离和相对速度在固定时间内趋于一致

并且给出一致性误差收敛时间的上界

实现多飞行器的同时刻拦截。在视线法向上为实现以特定的碰撞角度拦截目标

设计一种固定时间收敛的非奇异终端滑模制导律

实现攻击角度的固定时间收敛

并避免了制导指令奇异引起的控制饱和问题。考虑到目标的机动对制导系统产生的不利影响

引入固定时间扰动观测器对目标加速度进行前馈补偿。运用李雅普诺夫稳定性理论来证明系统的固定时间稳定特性。通过仿真实验验证所设计制导律可以有效控制多飞行器在领从框架下同时打击机动目标

并以期望的终端角度攻击目标。

Abstract

In response to the actual need for coordinated interception of multiple flight vehicle targets

this paper presents a three-dimensional spatio-temporal coordinative guidance law. Firstly

a leader-follower cooperative guidance law is developed based on the homogeneity theory and the fixed-time stability theory. This law ensures that the relative distance and relative velocity between the follower and the leader converge to a consistent value within a fixed time

respoectively. Furthermore

an upper bound for the convergence time of consistency error is provided to enable the simultaneous interception of multiple flight vehicles. Secondly

a non-singular terminal sliding mode guidance law with fixed time convergence is proposed to intercept the target with a specific collision angle in the normal direction of the line of sight. This law achieves the fixed time convergence of attack angle and mitigates the control saturation problem caused by the singularity of guidance command. Additionally

a fixed-time disturbance observer is introduced to compensate for the effects of the target's maneuvering on the guidance system. This observer performs feedforward compensation for the target acceleration. Finally

the Lyapunov stability theory is employed to prove the fixed-time stability properties of the system. The simulated results show that the proposed guidance law can be used to effectively control multiple aircrafts to attack the maneuvering targets at the same time under the leader-follower framework

and attack the targets at the desired terminal angle.

关键词

Keywords

references

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王雨辰 , 王伟 , 林时尧 , 等 . 考虑攻击时间及空间角度约束的三维自适应滑模协同制导律设计 [J ] . 兵工学报 , 2023 , 44 ( 9 ): 2778 - 2790 . DOI: 10.12382/bgxb.2022.1086 http://doi.org/10.12382/bgxb.2022.1086 面向三维场景下的多导弹协同攻击机动目标问题,基于固定时间稳定理论和自适应滑模控制理论,设计考虑时间及空间约束的分布式协同制导律。在弹目视线方向上,基于固定时间一致性理论提出一种改进型自适应鲁棒协同制导律,驱动弹群以期望的攻击时刻协同拦截机动目标,并避免滑模固有的抖振问题;考虑视线法向的空间约束,基于固定时间非奇异终端滑模控制理论设计一种鲁棒自适应滑模制导律,在实现终端碰撞角约束的同时避免弹群间碰撞。通过Lyapunov稳定性理论证明闭环系统的固定时间稳定性。仿真结果表明:所设计三维协同制导律可以有效控制多发导弹在期望攻击时刻同时打击机动目标,并以期望的终端角度攻击目标。

WANG Y C , WANG W , LIN S Y , et al . Three-dimensional adaptive sliding mode cooperative guidance law with impact time and angle constraints [J ] . Acta Armamentarii , 2023 , 44 ( 9 ): 2778 - 2790 . (in Chinese) DOI: 10.12382/bgxb.2022.1086 http://doi.org/10.12382/bgxb.2022.1086 Aiming at the problem of three-dimensional multiple missiles intercepting a maneuvering target simultaneously, a three-dimensional distributed cooperative guidance law considering time and space constraints. The proposed guidance law is based on fixed-time stable theory and adaptive sliding mode theory. Along the light-of-sight (LOS) direction, an improved robust adaptive cooperative guidance law is presented based on fixed-time consensus, which can drive a group of missiles to attack maneuvering target at a desired impact time without inherent chattering of sliding mode control. Along the direction vertical to the line-of-sight, a robust adaptive guidance law is proposed based on nonsingular fixed-time terminal sliding mode technique, which can drive missiles attack target with desired impact angle and avoid collision between missiles. Through the Lyapunov stability theory, the fixed-time stability of closed-loop system is demonstrated. The simulation results show that the proposed approach can be implemented to intercept maneuvering targets with desired impact time and impact angle.

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