浏览全部资源
扫码关注微信
Three-dimensional Fixed-time Attack Proportional Guidance Law Based on Variable Power Sliding Mode for Multiple Missiles
- Acta Armamentarii Vol. 46, Issue 7, Pages: 240437(2025)
- 作者机构：
1. 南京理工大学 机械工程学院, 江苏 南京 210094
2. 工业和信息化部电子第五研究所, 广东 广州 510000
- 作者简介：
- 基金信息：
DOI：10.12382/bgxb.2024.0437
CLC：Received：05 June 2024，
Published Online：12 August 2025，
Published：31 July 2025
- 稿件说明：
移动端阅览
Jian LI, Peng LIU, Xiaohao YU, et al. Three-dimensional Fixed-time Attack Proportional Guidance Law Based on Variable Power Sliding Mode for Multiple Missiles[J]. Acta Armamentarii, 2025, 46(7): 240437.
Jian LI, Peng LIU, Xiaohao YU, et al. Three-dimensional Fixed-time Attack Proportional Guidance Law Based on Variable Power Sliding Mode for Multiple Missiles[J]. Acta Armamentarii, 2025, 46(7): 240437. DOI： 10.12382/bgxb.2024.0437.
摘要
针对多导弹对重要目标同时攻击的问题
提出一种三维固定时间打击多弹比例导引律。建立三维空间内的导弹-目标动力学模型
为降低在三维空间内控制方法的设计难度
在三维空间内确定基准面
将导弹-目标三维空间状态向量分解平行和垂直于基准面两个分量
并在上述基准面内分别设计控制方法。其中
平行于基准面基于比例导引法
设计切向和法向加速度作为控制输入
驱使导弹在期望攻击时刻之前达成剩余飞行时间一致;在垂直基准面
基于变幂次改进传统滑模控制法设计导引律
实现多导弹系统前段控制快速收敛与末段控制稳定的兼容。当两个基准面分量都能在预设攻击时间内实现一致性控制时
在三维空间内多导弹系统可完成同步攻击。通过向所设计的导引律中补偿各导弹发射时延
实现多弹系统在异步发射场景下对目标的同步攻击。仿真验证结果表明
所设计的导引律具备快速收敛、稳定性高等特点
不仅适用于同步发射场景
在异步发射时只需将各发导弹发射时延补充至输入端
即可完成攻击时间一致性控制。
Abstract
Aiming at the problem of simultaneous attack of multiple missiles against the important targets
a three-dimensional fixed-time attack proportional guidance law based on variable power sliding mode is proposed for multiple missiles.A missile-target dynamics model in three-dimensional space is established.To reduce the complexity of designing a control method in three-dimensional space
a reference plane is determined in three-dimensional space
and the missile-target state vector in three-dimensional space is decomposed into two components parallel and perpendicular to the reference plane.Control methods are designed separately in the reference plane.The method parallel to the reference plane is based on the proportional guidance method
The tangential and normal accelerations are designed as the control inputs to drive the missile to reach the remaining flight time consistency before the desired attack moment.Additionally
for the component perpendicular to the reference plane
a guidance law is designed using an improved sliding mode control method based on variable power to achieve the rapid convergence in the early stage and the stable control in the terminal stage for the multi-missile system.When the consistent control of both components along the reference plane is realized in a preset attack time
the multi-missile system can complete the synchronized attack in the three-dimensional space.Furthermore
the synchronized attack on the target by the multi-missile system in the asynchronous launching scenario can be realized by compensating the launch delay of each missile in the guidance law.The performance of the proposed three-dimensional guidance law is verified by simulation
which is characterized by fast convergence and high stability.The guidance law is not only applicable to synchronous launching scenarios
but also adds only the launch delay of each missile to the input to complete the consistency control of attack time.
关键词
Keywords
references
李鹤宇 , 王建斌 , 张锐 , 等 . 具有角度和时间约束的固定时间协同导引律 [J ] . 宇航学报 , 2024 , 45 ( 3 ): 462 - 468 .
LI H Y , WANG J B , ZHANG R , et al. Fixed-time cooperative guidance law with angle and remaining flight time constraints [J ] . Journal of Astronautics , 2024 , 45 ( 3 ): 462 - 468 . (in Chinese)
李国飞 , 李博皓 , 吴云洁 , 等 . 多群组飞行器攻击时间控制协同制导方法 [J ] . 宇航学报 , 2023 , 44 ( 1 ): 110 - 118 .
LI G F , LI B H , WU Y H , et al. Cooperative guidance law with impact time control for clusters of flight vehicles [J ] . Journal of Astronautics , 2023 , 44 ( 1 ): 110 - 118 . (in Chinese)
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.
HE Z C , FAN S P , WANG J , et al. Distributed observer-based fixed-time cooperative guidance law against maneuvering target [J ] . International Journal of Robust and Nonlinear Control , 2024 , 34 ( 1 ): 27 - 53 .
YU J L , SHI Z X , DONG X W , et al. Impact time consensus cooperative guidance against the maneuvering target:theory and experiment [J ] . IEEE Transactions on Aerospace and Electronic Systems , 2023 , 59 ( 4 ): 4590 - 4603 .
WANG C Y , DING X J , WANG J N , et al. A robust three-dimensional cooperative guidance law against maneuvering target [J ] . Journal of the Franklin Institute , 2020 , 357 ( 10 ): 5735 - 5752 .
ZHAN Y , LI S Y , ZHOU D . Time-to-go based three-dimensional multi-missile spatio-temporal cooperative guidance law:a novel approach for maneuvering target interception [J ] . ISA Transactions , 2024 ,149: 178 - 195 .
LI G F , ZUO Z Y . Robust leader-follower cooperative guidance under false-data injection attacks [J ] . IEEE Transactions on Aerospace and Electronic Systems , 2023 , 59 ( 4 ): 4511 - 4524 .
LI G F , WU Y J . Adaptive cooperative guidance with seeker-less followers:A position coordination-based framework [J ] . ISA Transactions , 2023 ,143: 168 - 176 .
WANG Z K , FANG Y W , FU W , et al. Prescribed-time cooperative guidance law against manoeuvring target with input saturation [J ] . International Journal of Control , 2023 , 96 ( 5 ): 1177 - 1189 .
张宽桥 , 周旋风 , 门星火 , 等 . 固定时间收敛的三维制导控制一体化设计 [J ] . 北京航空航天大学学报 , 2023 , 49 ( 4 ): 842 - 852 .
ZHANG K Q , ZHOU X F , MEN X H , et al. Three-dimensional integrated guidance and control design with fixed-time convergence [J ] . Journal of Beijing University of Aeronautics and Astronautics , 2023 , 49 ( 4 ): 842 - 852 . (in Chinese)
尤浩 , 常新龙 , 赵久奋 , 等 . 带角度约束的三维积分二阶滑模拦截导引律 [J ] . 宇航学报 , 2024 , 45 ( 4 ): 590 - 602 .
YOU H , CHANG X L , ZHAO J F , et al. Three-dimensional integral second-order sliding mode interception guidance law with impact angle constraints [J ] . Journal of Astronautics , 2024 , 45 ( 4 ): 590 - 602 . (in Chinese)
池海红 , 丁栖航 , 张国良 . 预定时间多导弹三维协同导引律 [J ] . 宇航学报 , 2023 , 44 ( 8 ): 1238 - 1250 .
CHI H H , DING X H , ZHANG G L . Three-dimensional cooperative guidance law for multiple missiles with predefined-time convergence [J ] . Journal of Astronautics , 2023 , 44 ( 8 ): 1238 - 1250 . (in Chinese)
YU H , DAI K R , LI H J , et al. Three-dimensional adaptive fixed-time cooperative guidance law with impact time and angle constraints [J ] . Aerospace Science and Technology , 2022 ,123:107450.
CHEN S W , WANG W , FAN J F . Three-dimensional piecewise cooperative guidance with smooth switching topology [J ] . Aerospace Science and Technology , 2024 ,150:109181.
姜尚 , 陈锋 , 高伟鹏 , 等 . 弹群在复杂作战空间下的自适应分布式协同制导策略 [J ] . 兵工学报 , 2022 , 43 ( 增刊2 ): 97 - 106 .
JIANG S , CHEN F , GAO W P , et al. An adaptive distributed cooperative guidance strategy for projectile clusters in complex combat environment [J ] . Acta Armamentarii , 2022 , 43 ( S2 ): 97 - 106 . (in Chinese) DOI: 10.12382/bgxb.2022.B023 http://doi.org/10.12382/bgxb.2022.B023 An adaptive distributed cooperative guidance strategy is proposed to improve the penetration ability and damage effect of shipborne gun guided projectiles, and to enable multiple projectiles to organize and cooperate in complex combat environment by themselves. An extended state observer with fast and accurate observation performance is designed to overcome external interference and constraints in the measurement of line of sight and angular velocity caused by the spin of projectiles. To address the problem of uncertain communication delay, a distributed controller in the direction of the line of sight is designed based on the cooperative consistency theory and integral sliding mode, which could converge the attack time within a limited time period. To eliminate the tracking error of the line of sight angle and line of sight angular rate in a certain time period, adaptive controllers using a nonsingular terminal sliding mode are installed along the normal and lateral directions of the line of sight based on the remaining flight time. Based on the Lyapunov theory and the Lyapunov-Krasovskii functional, it is proved that system is uniformly and ultimately bounded. Compared with existing research, experimental results reveal that this strategy improves the cooperative guidance performance of a projectile cluster against moving targets in a complex combat environment.
魏世君 , 翟光 , 孙一勇 , 等 . 高超声速机动目标天基跟踪鲁棒性滤波方法 [J ] . 宇航学报 , 2022 , 43 ( 9 ): 1246 - 1256 .
WEI S J , ZHAI G , SUN Y Y , et al. Robust filtering and space-based tracking method for hypersonic maneuvering target [J ] . Journal of Astronautics , 2022 , 43 ( 9 ): 1246 - 1256 . (in Chinese)
HAN T , SHIN H S , HU Q L , et al. Differentiator-based incremental three-dimensional terminal angle guidance with enhanced robustness [J ] . IEEE Transactions on Aerospace and Electronic Systems , 2022 , 58 ( 5 ): 4020 - 4032 .
GONZALEZ-GARCIA A , CASTAÑEDA H . Guidance and control based on adaptive sliding mode strategy for a usv subject to uncertainties [J ] . IEEE Journal of Oceanic Engineering , 2021 , 46 ( 4 ): 1144 - 1154 .
ZHANG Z , DONG X W , YV J L , et al. Distributed cooperative tracking and cooperative guidance against maneuvering aerial target [J ] . Aerospace Science and Technology , 2024 ,144:108827.
CHEN Z Y , LIU X M , CHEN W C . Three-dimensional event-triggered fixed-time cooperative guidance law against maneuvering target with the constraint of relative impact angles [J ] . Journal of the Franklin Institute , 2023 , 360 ( 6 ): 3914 - 3966 .
马文卉 , 符文星 , 方洋旺 , 等 . 通信拓扑切换下的预定时间分组协同制导方法 [J ] . 宇航学报 , 2023 , 44 ( 1 ): 86 - 98 .
MA W H , FU W X , FANG Y W , et al. Prescribed-time Cooperative Guidance Law with Switching Communication Topologies [J ] . Journal of Astronautics , 2023 , 44 ( 1 ): 86 - 98 . (in Chinese)
白成超 , 王会霞 , 郭继峰 , 等 . 高速飞行器集群通信拓扑自适应控制方法 [J ] . 宇航学报 , 2023 , 44 ( 7 ): 1008 - 1019 .
BAI C C , WANG H X , GUO J F , et al. Communication topology adaptive control method for high-speed space vehicle swarms [J ] . Journal of Astronautics , 2023 , 44 ( 7 ): 1008 - 1019 . (in Chinese)
LAN X J , CHEN J D , ZHAO Z J , et al. Cooperative guidance of multiple missiles:a hybrid coevolutionary approach [J ] . IEEE Transactions on Control Systems Technology , 2023 , 32 ( 1 ): 128 - 142
ZHANG P , ZHANG X Y . Multiple missiles fixed-time cooperative guidance without measuring radial velocity for maneuvering targets interception [J ] . ISA Transactions , 2022 ,126: 388 - 397 .
KANG H L , WANG P Y , WEI S H , et al. Three-dimensional impact-time-constrained proportional navigation guidance using range-varying gain [J ] . Aerospace Science and Technology , 2023 ,140:108419.
ZHOU J L , YANG J Y . Guidance law design for impact time attack against moving targets [J ] . IEEE Transactions on Aerospace and Electronic Systems , 2018 , 54 ( 5 ): 2580 - 2589 .
WANG C Y , DONG W , WANG J N , et al. Guidance law design with fixed-time convergent error dynamics [J ] . Journal of Guidance,Control,and Dynamics , 2021 , 44 ( 7 ): 1389 - 1398 .
0
Views
180
下载量
0
CNKI被引量
- L-PDFDownload
- Meta-XMLDownload
- BibTeXDownload
- EndnoteDownload
- RefMan Download
- NoteExpressDownload
- NoteFirstDownload
Publicity Resources
Related Articles
Related Author
Related Institution
- Postal code：100089
- Tel：010-68963060/68962718 Fax：010-68963025 Email：bgxb@cos.org.cn
- Technical support is provided by Beijing Founder electronics co., LTD 京ICP备05059581号-4
京公网安备11010802024360号 - It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
- Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.
- Total Visits：44524 Visits Today：504