基于分布式凸优化的能量最优多向协同制导方法

王江; 朱梓杨; 李虹言; 王鹏

doi:10.12382/bgxb.2024.0739

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基于分布式凸优化的能量最优多向协同制导方法

更新时间：2025-09-05

- 基于分布式凸优化的能量最优多向协同制导方法
- An Energy-optimal Relative-angle-constrained Cooperative Guidance Method Based on Distributed Convex Optimization
- 兵工学报 2025年46卷第6期页码：240739
- 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
- 作者简介：
  
  *邮箱:hongyan_ae@126.com
- 基金信息：
  
  国家自然科学基金项目(61827901);中国博士后科学基金项目(2023M730169)
- DOI：10.12382/bgxb.2024.0739
  中图分类号：
- 收稿：2024-08-27，
  
  网络出版：2025-06-28，
  
  纸质出版：2025-06-10
- 稿件说明：
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王江, 朱梓杨, 李虹言, 等. 基于分布式凸优化的能量最优多向协同制导方法[J]. 兵工学报, 2025,46(6):240739.

Jiang WANG, Ziyang ZHU, Hongyan LI, et al. An Energy-optimal Relative-angle-constrained Cooperative Guidance Method Based on Distributed Convex Optimization[J]. Acta Armamentarii, 2025, 46(6): 240739.
王江, 朱梓杨, 李虹言, 等. 基于分布式凸优化的能量最优多向协同制导方法[J]. 兵工学报, 2025,46(6):240739. DOI： 10.12382/bgxb.2024.0739.

Jiang WANG, Ziyang ZHU, Hongyan LI, et al. An Energy-optimal Relative-angle-constrained Cooperative Guidance Method Based on Distributed Convex Optimization[J]. Acta Armamentarii, 2025, 46(6): 240739. DOI： 10.12382/bgxb.2024.0739.

摘要

多飞行器角度最优协同制导能够以最低能耗实现对机动目标的多向拦截

是制导领域的重要研究方向。现有最优协同制导方法需利用全局信息生成最优制导指令

故多采用集中式通信拓扑

而集中式通信可靠性较低

不利于实际应用。针对上述问题

基于分布式凸优化理论

提出一种分布式能量最优多向协同制导方法

以解决分布式信息局部性与协同指令全局最优性之间的矛盾。该方法基于广义弹道成型制导律(Generalized Trajectory Shaping Guidance Law

GTSG)

通过解析推导飞行器控制能量与期望终端视线角的映射关系

以总控制能量为目标函数

并结合相对视线角约束构建分布式凸优化问题。提出扩展原始对偶算法

实现分布式全局寻优

实时协调飞行器期望视线角

使多飞行器在GTSG作用下以最小能耗协同拦截目标。仿真结果及其分析表明:相比于现有的集中式多向协同制导算法

所提方法无需依赖中心节点

同时兼顾了全局能量最优性。

Abstract

The angle-optimal cooperative guidance of multiple aerial vehicles enables multi-directional interception of maneuvering targets with minimal energy consumption

which is an important research direction in the field of guidance.The current optimal cooperative guidance methods depend on global information and centralized communication which has low reliability in practical applications.To address the issue mentioned above

an energy-optimal relative-angle-constrained cooperative guidance method based on distributed convex optimization is proposed to resolve the contradiction between the locality of distributed information and the global optimality of cooperative commands.Based on the generalized trajectory shaping guidance law (GTSG)

the mapping relationship between aerial vehicle control energy and desired terminal line-of-sight (LOS) angle is derived.A convex objective function is formulated using total control energy

and the convex constraints are established based on relative LOS angle constraints

thereby constructing a distributed convex optimization problem.The extended primal-dual algorithm (EPDA) is then introduced to achieve distributed global optimization

enabling the real-time coordination of aerial vehicle LOS angles for minimum-energy interception.The simulated results and analysis demonstrate that the proposed method does not rely on a central node while ensuring global energy optimality compared with existing centralized angle-coordinated guidance algorithms.

关键词

Keywords

references

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YOU H , CHANG X L , ZHAO J F , et al . Three-dimensional leader-follower cooperative guidance law with impact angle constraints [J ] . Acta Armamentarii , 2023 , 44 ( 11 ): 3369 - 3381 . (in Chinese) DOI: 10.12382/bgxb.2023.0174 http://doi.org/10.12382/bgxb.2023.0174 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.

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