Research On Cooperative Guidance And Control Design For Multiple-interceptor In Near Space

With the rapid development of near space aircrafts,it is increasingly difficult for a single interceptor to effectively intercept targets,and it is difficult to adapt to the requirements of future battlefields.Therefore,coordinated interception of near space multiple interceptors is more in line with the future development trend.The function complementarity between multiple interceptors through information exchange and sharing can not only greatly improve the penetration and electronic countermeasures capability of interceptors,but also accomplish the tasks that are difficult for a single interceptor.In this paper,the collaborative guidance and control problems of multi-interceptor for near space are considered.The main research contents are as follows:First,considering the problem of the time requirement of the near space multi-interceptor cooperative control for the flight attitude convergence is high and local communication exists,a fast convergence design method for near space multi-interceptor cooperative control is studied.First of all,based on the finite time consistency principle and the theory of graph theory,a cooperative control algorithm of near space multi-interceptor based on rapid collaborative law is designed,in the design process to join fast collaborative approach to deal with the problem of convergence time.Then,in order to reduce the influence of the disturbances on the system control performance,and design the time varying gain extended state observer to online feedback compensation of interference,at the same time by using dynamic sliding mode control law,the control algorithm is designed for interceptor.Finally,the simulation results show that the designed cooperative control algorithm of near space multi-interceptor based on fast cooperative law has a faster convergence rate.Secondly,considering the problem of the convergence rate and guidance accuracy of near space multi-interceptor cooperative guidance and control system,a design method for the cooperative integrated guidance control of near space multi-interceptor is studied.First based on designed multi-interceptor cooperative control algorithm,introducing the mode of "leader-follower",and combining with adaptive control,an adaptive cooperative algorithm for multiple interceptors is designed,this algorithm can automatically adjust the control parameters through the relative position relation between "follower" in the system,it can ensure that the flight state of the "leader" and "follower" converge more rapidly and stable.Then in order to further improve the flight stability and hit accuracy of "leader",on the basis of establishing the model of integrated guidance and control with channel independent,and according to the relative distance information between interceptor and target,the adaptive dynamic surface sliding mode control law and the time varying gain extended state observer are adopted to design the integrated guidance and control algorithm of "leader".At the same time,the "follower" control algorithm adopts the design of the time varying gain extended state observer and dynamic surface sliding mode control law.On this basis,considering the actual actuator allocation problem,the optimal control allocation technology is adopted to allocate the desired control torque to the actual actuator.Finally,simulation results show that the proposed algorithm has better convergence rate and guidance accuracy.Thirdly,considering the influence of constraint conditions on the cooperative guidance control system of near space multiple-interceptor,in order to improve the omni-directional strike capability and stability of multi-interceptor,based on the designed adaptive cooperative algorithm for near space multi-interceptor,the cooperative guidance control design methods for near space multi-interceptor with attack angle constraint and line-of-sight angular velocity constraint are studied.The finite time disturbance observer is designed to estimate the disturbance of the system.First introduced the nonsingular fast terminal sliding mode control law,an integrated guidance and control algorithm of “leader” with attack angle constraint is designed.It not only ensures that the "leader" can intercept the target at the desired attack angle,but also weakens the chattering in the control quantity.Then introduced the design method of the barrier Lyapunov function,an integrated guidance and control algorithm of "leader" based on asymmetric barrier Lyapunov function is designed,the algorithm can set the constraint conditions of line-of-sight angular velocity conveniently.At the same time to ensure the rapidity and stability of "follower",the control algorithm is designed with the finite time disturbance observer and dynamic sliding mode control law.Finally,simulation results show that the designed cooperative algorithms can make the near space multi-interceptor realize to intercept target under the constraint conditions.Fourth,the coupling relationship between pitch and yaw channel is considered,in order to improve the control performance and guidance accuracy of near space multi-interceptor,a design method of near space multi-interceptor cooperative guidance control with state coupling is studied.Based on the designed adaptive cooperative algorithm for near space multiple-interceptor,the coupled relationship between pitch and yaw channels is fully considered,and on the basis of establishing the integrated guidance control model with state coupling,by using the time varying gain extended state observer and adaptive dynamic surface sliding control law,a integrated guidance and control algorithm of “leader” with state coupling is designed.At the same time,the control algorithm of "follower" with state coupling is designed with the time varying gain extended state observer and dynamic surface sliding mode control law.Finally,simulation results show that the algorithm of near space multi-interceptor cooperative guidance and control with state coupling has better control performance and guidance accuracy.