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摘要:
针对多飞行器协同拦截机动目标问题，基于有限时间滑模控制方法和一致性理论提出一种考虑拦截时间约束的协同制导方法。基于相对运动学和动力学关系，建立考虑拦截时间和角度约束的协同拦截模型；基于滑模控制理论和超螺旋控制算法分别设计了视线方向和视线法向协同制导律以保证各飞行器拦截时间在有限时间内一致收敛且拦截角度收敛到期望值；基于一致性理论证明了所提方法有限时间一致收敛性能。仿真结果表明：所提方法能够保证各飞行器以期望拦截角同时拦截目标，验证了所提方法的有效性。
Abstract:To address the problem of multi-aircraft cooperative interception of maneuvering targets, a cooperative guidance method considering interception time constraints is proposed based on the finite-time sliding mode control method and consistency theory. Based on the relative kinematics and dynamics, a cooperative interception model considering interception time and angle constraints is established. Based on the sliding mode control theory and super-twisting control algorithm, the coordinate guidance laws in line-of-sight direction and line-of-sight normal direction are designed to ensure that the interception time of each aircraft converges uniformly within the finite time and that the interception angle converges to the expected value. Based on the consistency theory, the finite-time consistent convergence performance of the proposed guidance method is demonstrated. The simulation results show that all the aircrafts can intercept targets simultaneously at the desired intercept angle, which verifies the effectiveness of the proposed method.
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Key words:
- cooperative guidance /
- multi-axis aircraft /
- interception time /
- interception angle /
- consistency
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图 1 多飞行器协同拦截目标几何关系
Figure 1. Geometric relationship of multi-aircraft cooperative interception target
表 1 目标和各飞行器初始状态设置
Table 1. Initial states of each aircraft and target
飞行器 初始位置/km 初始速度/( m·s−1) 初始
航向角/(°)期望落角/(°) 目标 （8,2） 100 −10 M1 (2,4) 350 15 −10 M2 (3.5,6) 320 −15 −50 M3 (7,8) 320 −20 −100 M4 (12,7) 330 −50 −120 
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表 2 协同拦截结果
Table 2. Results of cooperative interception
飞行器 脱靶量/m 拦截耗时/s 拦截角误差/(°) M1 0.85 38.76 0.06 M2 0.76 38.76 0.12 M3 0.94 38.76 0.16 M4 0.73 38.76 0.10
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