Research On Cooperative Guidance And Formation Flight With Multiple Constraints

Due to the developments of anti-missile technology,the penetration and target attacking of the missile in modern battlefield are facing more and more challenges.By this time,single missile’s ability is limited,and there is no doubt that cooperative combat of multiple missiles will greatly enhance the missile penetration and attacking ability,which is also one of the development directions in the future.This article mainly focus on the research of some key issues of guidance and control problem of missiles cooperative engagement.The main research contents are as follows:1.A cooperative guidance law with constraints of impact time and impact angle is proposed based on the theory of model predictive static programming(MPSP).The nonlinear motion model of the missile and that of the target are built and normalized.To satisfy the constraint of designated impact-time,the impact-time-control guidance law is used to produce the initial guess control variables.Then the model predictive static programming technology is adopted to calculate the control variables iteratively based on the initial guess control variables until the constraints of miss distance and impact angle are satisfied,which forms the suboptimal cooperative guidance law with constraints of impact time and impact angle.Simulation results show that the cooperative guidance law is of good precision and robustness when given reasonable designated impact time and impact angle.In addition,setting method of reasonable designated impact time and designated impact angle is discussed.2.A three-dimensional cooperative guidance law for multiple missiles with constraints of impact time and impact angle is proposed.Based on the idea of "Leader-Follower",assume that there is a virtual leader guided to the target using augmented proportional navigation.Followers are guided by augmented proportional navigation command in pitching,and track the virtual leader’s range-to-go through yaw maneuvering to realize impact time cooperation.The control variables in pitching and yawing of followers produced in the process of impact time cooperation are regarded as initial guess control commands for MPSP,which are updated iteratively until the constraints of impact angle are satisfied.In this way,the constraints of impact time and impact angle are realized in three-dimensional(3D)space.What’s more,the design of key parameters of 3D cooperative guidance law and that of virtual leader’s movement are discussed.The effectiveness,robustness,and feasibility of online optimization also are verified through different combat scene simulations.3.For multiple no-power gliding bank-to-turn missiles flying in three-dimensional space,the problem of formation forming and holding is discussed.Based on “leader-follower”formation mode,setting the leader’s ballistic coordinate as reference,considering the speed is uncontrollable for no-power gliding leader and followers,two normal accelerations serving as control variables,the leader-follower relative motion model is built.An optimal trajectory that makes multiple missiles form the designated shape within shortest time and with less control energy is designed adopting Gauss Pseudospectral Method,which takes kinds of constraints as control quantities,initial and terminal states of followers and collision avoidance into account.After that,considering missiles maneuver only depending on aerodynamic,the angle of attack and velocity lead angle are looked as control variables,and a robust controller is designed to make missiles track the optimal formation forming trajectory and then hold the designated formation shape adopting dynamic surface control theory and extended state observer technology,the applicability of formation control method is also analyzed.