Distributed Cooperative Guidance Method for Maneuvering Targets Under Directed Switching Topologies

doi:10.3969/j.issn.1009-086x.2024.02.012

Abstract

Abstract:

To address the cooperative guidance problem for multi-aircraft attacking maneuvering targets， this paper initially builds a relative model in the line-of-sight frame. Subsequently， the paper decomposes the cooperative guidance issue into two sub-issues： line-of-sight angle cooperation and impact time cooperation. Distributed cooperative guidance laws are developed based on extended state observers， strategically designed in both the line-of-sight and its normal direction. Consensus analysis is conducted to demonstrate the convergence of the proposed guidance laws under directed switching topologies. Numerical simulations are then employed to further substantiate the effectiveness of the guidance laws.

Key words: maneuvering target, distributed cooperative guidance, extended state observer, consensus, multi-aircraft

摘要：

针对多飞行器对机动目标的协同制导问题，在视线坐标系下建立飞行器-目标相对运动模型，在此基础上将协同制导问题分为视线角协同以及命中时间协同2个子问题。基于扩张状态观测器分别在视线方向以及视线法向设计了分布式协同制导律。通过一致性分析证明了所设计的制导律在有向切换拓扑条件下的收敛性，并通过数值仿真的方式进一步验证了制导律的有效性。

关键词: 机动目标, 分布式协同制导, 扩张状态观测器, 一致性, 多飞行器

CLC Number:

V448.1

Xiaofei DONG, Mingrui HAO, Zhang REN. Distributed Cooperative Guidance Method for Maneuvering Targets Under Directed Switching Topologies[J]. Modern Defense Technology, 2024, 52(2): 104-114.

董晓飞, 郝明瑞, 任章. 有向切换拓扑条件下针对机动目标的分布式协同制导方法[J]. 现代防御技术, 2024, 52(2): 104-114.

Figures/Tables 11

Fig. 1 Geometry relationship between multi-aircraft and maneuvering target

Table 1 Initial status parameters of multi-aircraft

飞行器	初始飞行速度/ （ $m ⋅ s - 1$ ）	$y i (0)$ /m
1	282	6 000
2	268	3 000
3	260	2 000
4	241	1 500

Table 1 Initial status parameters of multi-aircraft

飞行器	初始飞行速度/ （ $m ⋅ s - 1$ ）	$y i (0)$ /m
1	282	6 000
2	268	3 000
3	260	2 000
4	241	1 500

Table 2 Initial status parameters of target

参数	数值
$v t$ /（ $m ⋅ s - 1$ ）	220
$x t (0)$ /m	12 000
$y t (0)$ / m	0
$θ t (0)$ /（°）	0
$a t$ /（ $m ⋅ s - 2$ ）	20 sin（t/10）

Table 2 Initial status parameters of target

参数	数值
$v t$ /（ $m ⋅ s - 1$ ）	220
$x t (0)$ /m	12 000
$y t (0)$ / m	0
$θ t (0)$ /（°）	0
$a t$ /（ $m ⋅ s - 2$ ）	20 sin（t/10）

Fig. 2 Communication topologies among multi-aircraft

Fig. 3 Trajectories of multi-aircraft and target

Fig. 4 Time-to-go of multi-aircraft

Fig. 5 Relative distance between multi-aircraft and target

Fig. 6 Impact angles between multi-aircraft and target

Fig. 7 Line-of-sight（LOS） angular rates of multi-aircraft

Fig. 8 Tangential acceleration of multi-aircraft

Fig. 9 Normal acceleration of multi-aircraft

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