宇航学报

宇航学报 ›› 2019, Vol. 40 ›› Issue (6): 646-654.doi: 10.3873/j.issn.1000-1328.2019.06.005

• 制导、导航、控制与电子 • 上一篇    下一篇

通信拓扑切换下的多飞行器协同拦截方法

赵恩娇，杨明，晁涛，王松艳   

  1. 哈尔滨工业大学控制与仿真中心，哈尔滨 150080
  • 收稿日期:2018-01-03 修回日期:2018-06-29 出版日期:2019-06-15 发布日期:2019-06-25
  • 基金资助:

    国家自然科学基金（61627810，61403096）

Cooperative Interception for Multiple Flight Vehicles with Switching Topologies

ZHAO En jiao,YANG Ming, CHAO Tao, WANG Song yan   

  1. Control and Simulation Center, Harbin Institute of Technology, Harbin 150080, China
  • Received:2018-01-03 Revised:2018-06-29 Online:2019-06-15 Published:2019-06-25

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摘要：

针对通信拓扑切换条件下的多飞行器协同拦截问题，提出了一种基于扩张状态观测器的协同制导方法。建立协同制导设计模型，将协同拦截问题转换为视线稳定条件下的剩余飞行时间调节问题。为解决机动目标状态不确定的问题，将目标的状态视作扰动，设计扩张状态观测器来估计机动目标的状态，并在制导律中对目标的机动进行补偿。利用有限时间一致性理论进行一致性控制协议的设计，实现各飞行器剩余飞行时间的有限时间一致，并利用Lyapunov稳定性理论分析通信拓扑切换情况下闭环系统的有限时间稳定性，给出了系统一致收敛时间。仿真结果表明，在通信拓扑变换的情况下，设计的观测器能够有效估计目标状态，且协同制导律能够满足对剩余飞行时间的控制要求，进而实现协同拦截。

关键词: 机动目标, 协同拦截, 扩张状态观测器, 协同制导律

Abstract:

 A cooperative guidance method based on an extended state observer (ESO) is proposed for multiple flight vehicles (MFV) cooperative interception with switching topologies. The cooperative guidance model for MFV is established, and the cooperative interception problem is converted to the time-to-go adjustment problem when the line of sight (LOS) is stable. In order to deal with the uncertainty of a maneuvering target, the target state is considered as a disturbance. An ESO is designed to observe the maneuvering target state, then the maneuvering target state can be compensated in the guidance law. And a consensus control protocol is designed based on the finite-time consensus theory for MFV, the finite-time consensus of time-to-go is realized, the finite-time stability of the closed-loop system with switching topologies is analyzed based on the Lyapunov stability theory, and the consensus time of the system is given. The simulation results show that the designed ESO can estimate the target state accurately, and the proposed cooperative guidance can satisfy the demands for controlling the intercept time with the switching topologies, and hence the cooperative interception can be achieved.

Key words:  Maneuvering target, Cooperative interception, ESO, Cooperative guidance law

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