Formation Control And Cooperative Guidance Methods For Multiple Flight Vehicles

With the rapid development of the aerospace technology and the increasing complexity of the battlefield environment,the single-flight-vehicle combat have been unable to meet the requirements in future air combat missions.In order to enhance the performance of the defense system and improve the attack precision,the multiple flight vehicles cooperative interception has become a major defensive tactic in the military field.With the background of cooperative interception by multiple flight vehicles,this dissertation mainly research the formation control and cooperative guidance problems.An effective formation flight controller,cooperative guidance law and cooperative estimation method is proposed,which provides reasonable solutions to the special problems brought by multiple flight vehicles cooperative control.By combining the multi-agent finite time consensus theory with the multiple flight vehicles cooperative control system,the b etter control performance with faster dynamics and stronger robustness can be achieved.The main contributions are summarized as follows.Firstly,due to the great similarity between the multiple flight vehicle s cooperative interception and the multi-agent system consensus problem,combined with the high requirement of control time cooperative interception mission,the research of multi-agent system finite time consensus is conducted taking a dvantage of the finite time control theory.With the established multi-agent system model,the first-order and second-order multi-agent system finite time consensus control protocol under the restriction of communication time delay and time-varying communication topology are designed,respectively.On this basis,the finite time consensus problem of high order multi-agent system is further studied.It provides a theoretical basis for the follow-up formation flight control and cooperative guidance method.Secondly,aiming at the problem of multiple flight vehicle s formation flight control in the mid-guidance process,the formation flight control method based on the finite time consensus is studied.Considering the characteristics of flight vehicle,a precise linearization model is obtained using the differential geometry theory,then the formation control model is established,and a leader-follower formation flight control strategy is given.With the leader flight vehicle coord inate system introduced,the formation flight controller is designed by the finite time consensus theory,and the finite time stability of t he system is analyzed.On this basis,the influence of actuator saturation is further considered,so the finite time formation control with actuator constraint is realized,and the robustness of the system is enhanced.Thirdly,a cooperative guidance method based on the finite time consensus is studied to solve the problem of cooperative guidance control in the terminal guidance stage of cooperative interception.Through establishing the relative kinematic model of multiple flight vehicles and the target,t he description of cooperative guidance problem is presented.A finite time three dimensional c ooperative guidance law in leader-following strategy is designed based on the finite time control method and consensus theory.Besides,since the cooperative guidance accuracy is effected by the target state,combat environment and p arameters,an adaptive parameter controller is designed.Cooperating with trac king control algorithm,the parameters can be adjusted adaptively according to the designed adjustment mechanism,therefore,the requirements of cooperative guidance can be achieved,and guidance performance is improved.Finally,a consensus-based cooperative estimation and guidance method is proposed for the cooperative interception of incoming maneuvering tar gets.A second-order extended state observer is designed to estimate the target acceler ation.Whereby,a consensus estimator is designed using the consensus theory,which provides the consensus coordinate control input for each flight vehicle.The same estimated value can be obtained by local information exchange in communication network.Using the target estimate obtained by the consensus estimator,taking into account the influence of switching communication topo logy,the finite-time guidance law based on the extended state observer is designed to achieve cooperative interception of the maneuvering,so the intercept precision is improved.