| Citation: | YANG X X，JIANG Z J，ZHANG Y，et al. Distributed cooperative guidance strategy based on virtual negotiation and rolling horizon optimization[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（1）：61-76 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0174
|
The multi-UAV cooperative guidance under target maneuvering is studied, and a distributed cooperative guidance strategy based on virtual negotiation mechanism and rolling horizon optimization is proposed. To improve the effect of time coordination and guidance control at the same time, the local coordination variables and objective function are designed under the rolling horizon optimization framework. The multi-constraint cooperative guidance optimization model is then constructed in the finite time domain. To enhance the robustness of the guidance system to maneuvering targets, a disturbance observer based on nonlinear autoregressive neural network is designed. To address the control input coupling between UAVs, a virtual negotiation mechanism is proposed, realizing synchronous decision-making and eliminating internal “differences”. The guidance command generation strategy is also designed by using the root mean square propagation algorithm of Nesterov momentum. The experiments of digital simulation and hardware in the loop simulation are carried out. The results show that the proposed guidance strategy can deal with various system interferences and improve the effectiveness of the cooperative guidance through online prediction and optimization, thus expected to be further applied and tested in practical projects.
| [1] |
陈清阳, 辛宏博, 王玉杰, 等. 一种多机协同打击的快速航迹规划方法[J]. 北京航空航天大学学报, 2022, 48(7): 1145-1153. doi: 10.13700/j.bh.1001-5965.2021.0022
CHEN Q Y, XIN H B, WANG Y J, et al. A rapid path planning method for multiple UAVs to cooperative strike[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(7): 1145-1153(in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0022
|
| [2] |
王晓光, 章卫国, 刘洋. 伴飞诱饵干扰下的自杀式无人机攻击策略[J]. 航空学报, 2015, 36(9): 3137-3146.
WANG X G, ZHANG W G, LIU Y. Suicide drones’ attack strategy on the condition of escort free-flight decoys influence[J]. Acta Aeronautica et Astronautica Sinica, 2015, 36(9): 3137-3146(in Chinese).
|
| [3] |
吴捷, 胡盛华, 乔莎莎, 等. “忠诚僚机”式有人/无人机协同作战概念与任务管理技术研究[J]. 航空电子技术, 2021, 52(2): 27-31.
WU J, HU S H, QIAO S S, et al. Research on combat concept and mission management technique of “loyal wingman” manned/unmanned aerial vehicle collaborative[J]. Avionics Technology, 2021, 52(2): 27-31(in Chinese).
|
| [4] |
田磊, 赵启伦, 董希旺, 等. 拒止环境下基于“忠诚僚机”的护航策略[J]. 北京航空航天大学学报, 2021, 47(5): 1058-1067. doi: 10.13700/j.bh.1001-5965.2020.0090
TIAN L, ZHAO Q L, DONG X W, et al. Escort strategy based on loyal wingman in denial environment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(5): 1058-1067(in Chinese). doi: 10.13700/j.bh.1001-5965.2020.0090
|
| [5] |
ZHAO J, ZHOU R. Unified approach to cooperative guidance laws against stationary and maneuvering targets[J]. Nonlinear Dynamics, 2015, 81(4): 1635-1647. doi: 10.1007/s11071-015-2096-z
|
| [6] |
彭琛, 刘星, 吴森堂, 等. 多弹分布式协同末制导时间一致性研究[J]. 控制与决策, 2010, 25(10): 1557-1561.
PENG C, LIU X, WU S T, et al. Consensus problems in distributed cooperative terminal guidance time of multi-missiles[J]. Control and Decision, 2010, 25(10): 1557-1561(in Chinese).
|
| [7] |
杨剑影, 周佳玲, 魏小倩. 多导弹攻击高机动目标的分布式协同制导关键技术[J]. 航空兵器, 2017, 24(3): 3-12. doi: 10.19297/j.cnki.41-1228/tj.2017.03.001
YANG J Y, ZHOU J L, WEI X Q. Key technologies of distributed cooperative guidance and control method for multiple missiles attacking the maneuvering target[J]. Aero Weaponry, 2017, 24(3): 3-12(in Chinese). doi: 10.19297/j.cnki.41-1228/tj.2017.03.001
|
| [8] |
赵世钰, 周锐. 基于协调变量的多导弹协同制导[J]. 航空学报, 2008, 29(6): 1605-1611. doi: 10.3321/j.issn:1000-6893.2008.06.031
ZHAO S Y, ZHOU R. Multi-missile cooperative guidance using coordination variables[J]. Acta Aeronautica et Astronautica Sinica, 2008, 29(6): 1605-1611(in Chinese). doi: 10.3321/j.issn:1000-6893.2008.06.031
|
| [9] |
张帅, 宋天莉, 焦巍, 等. 带有拦截时间约束的协同制导方法[J]. 北京航空航天大学学报, 2023, 49(8): 1956-1963. doi: 10.13700/j.bh.1001-5965.2021.0569
ZHANG S, SONG T L, JIAO W, et al. Cooperative guidance method with interception time constraint[J]. Journal of Beijing University of Aeronautics and Astronautics, 2023, 49(8): 1956-1963(in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0569
|
| [10] |
田野, 蔡远利, 邓逸凡. 一种带时间协同和角度约束的多导弹三维协同制导律[J]. 控制理论与应用, 2022, 39(5): 788-798.
TIAN Y, CAI Y L, DENG Y F. A 3D cooperative guidance law for multiple missiles with line-of-sight angle constraint[J]. Control Theory & Applications, 2022, 39(5): 788-798(in Chinese).
|
| [11] |
CHO D, KIM H J, TAHK M J. Nonsingular sliding mode guidance for impact time control[J]. Journal of Guidance, Control, and Dynamics, 2016, 39(1): 61-68. doi: 10.2514/1.G001167
|
| [12] |
ZHANG Y A, WANG X L, WU H L. Impact time control guidance law with field of view constraint[J]. Aerospace Science and Technology, 2014, 39: 361-369. doi: 10.1016/j.ast.2014.10.002
|
| [13] |
邹丽, 丁全心, 周锐. 异构多导弹网络化分布式协同制导方法[J]. 北京航空航天大学学报, 2010, 36(12): 1432-1435.
ZOU L, DING Q X, ZHOU R. Distributed cooperative guidance for multiple heterogeneous networked missiles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(12): 1432-1435(in Chinese).
|
| [14] |
ZHAO S Y, ZHOU R. Cooperative guidance for multimissile salvo attack[J]. Chinese Journal of Aeronautics, 2008, 21(6): 533-539. doi: 10.1016/S1000-9361(08)60171-5
|
| [15] |
邹丽, 周锐, 赵世钰, 等. 多导弹编队齐射攻击分散化协同制导方法[J]. 航空学报, 2011, 32(2): 281-290.
ZOU L, ZHOU R, ZHAO S Y, et al. Decentralized cooperative guidance for multiple missile groups in salvo attack[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(2): 281-290(in Chinese).
|
| [16] |
王晓芳, 刘冬责, 郑艺裕, 等. 一种基于模型预测控制技术的多导弹协同作战制导方法: CN105202972A[P]. 2017-01-18.
WANG X F, LIU D Z, ZHENG Y Y, et al. Multi-missile cooperative engagement guidance method based on model predictive control technique: CN105202972A[P]. 2017-01-18(in Chinese).
|
| [17] |
段海滨, 邱华鑫. 基于群体智能的无人机集群自主控制[M]. 北京: 科学出版社, 2018: 168-171.
DUAN H B, QIU H X. Unmanned aerial vehicle swarm autonomous control based on swarm intelligence[M]. Beijing: Science Press, 2018: 168-171(in Chinese).
|
| [18] |
CASADO E J M, SCARLATTI D, ESTEBAN-CAMPILLO D, et al. Network of unmanned vehicles: US20140074339[P]. 2014-03-13.
|
| [19] |
JOHNSON L, CHOI H L, HOW J P. The hybrid information and plan consensus algorithm with imperfect situational awareness[C]//Proceedings of the Springer Tracts in Advanced Robotics. Berlin: Springer, 2016: 221-233.
|
| [20] |
杨海民, 潘志松, 白玮. 时间序列预测方法综述[J]. 计算机科学, 2019, 46(1): 21-28. doi: 10.11896/j.issn.1002-137X.2019.01.004
YANG H M, PAN Z S, BAI W. Review of time series prediction methods[J]. Computer Science, 2019, 46(1): 21-28(in Chinese). doi: 10.11896/j.issn.1002-137X.2019.01.004
|
| [21] |
孙雪娇, 周锐, 吴江, 等. 攻击机动目标的多导弹分布式协同制导律[J]. 北京航空航天大学学报, 2013, 39(10): 1403-1407. doi: 10.13700/j.bh.1001-5965.2013.10.023
SUN X J, ZHOU R, WU J, et al. Distributed cooperative guidance law for multiple missiles attacking maneuver target[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(10): 1403-1407(in Chinese). doi: 10.13700/j.bh.1001-5965.2013.10.023
|
Figures(15) / Tables(4)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
