Abstract:

This paper studies the missile formation control problem under external interference， input limitations， and tracking error performance constraints. Based on communication topology theory， a missile formation model is established using the absolute error of each missile and the relative error of neighboring missiles. A missile formation model with an input-limited tracking error constraint is then presented using an error conversion function. An adaptive saturation formation preset performance controller is designed using the backstepping method， adaptive techniques， and an auxiliary system. The stability of the proposed formation controller is proved using the Lyapunov theory， which shows that the system’s tracking error can converge to the predetermined boundary range. The effectiveness of the controller is verified through digital simulations.

Key words: missile formation, tracking error constraint, preset performance, input saturation, adaptive control, backstepping control

摘要：

研究分析了存在外界干扰、输入受限和跟踪误差性能约束条件下的导弹编队控制问题。在定义每枚导弹与期望位置绝对误差、相邻导弹的相对误差的基础上，基于通信拓扑理论，建立了基于总误差的导弹编队系统模型，并利用误差转换函数，给出了带有输入受限的跟踪误差约束的导弹编队模型。采用反步法、自适应技术和辅助系统，设计了自适应饱和的编队预设性能控制器；借助李雅普诺夫理论对所提出的编队控制器进行了稳定性证明，表明系统跟踪误差能够收敛至预先设定的边界范围内，并通过数字仿真验证了控制器的有效性。

关键词: 导弹编队, 跟踪误差约束, 预设性能, 输入饱和, 自适应控制, 反步控制