多导弹分布式协同制导与反步滑模控制方法

针对多弹三维协同攻击机动目标的要求, 提出一种基于网络同步原理的协同制导方法. 该算法给出了导弹3 个方向的速度, 并基于运动学关系转化为总速度、弹道倾角和弹道偏角指令. 基于反步法将控制器设计过程转化为3 步, 分别为速度及弹道角子系统、气动角子系统和角速率子系统设计, 各子系统采用滑模控制. 控制器设计中采用扩展状态观测器对气动参数摄动和外部扰动进行估计, 并在控制器中进行补偿. 仿真结果验证了控制器的跟踪特性及导弹的协同攻击效果.

Multi-missile distributed cooperative guidance integrating backstepping sliding mode control

A kind of cooperative guidance law based on the network synchronization principle is proposed for multi-missile three-dimensional coordinated attack. The synchronization algorithm gives out the speed in three directions, which are transformed to the command of total velocity and trajectory angles based on the kinematic relations. The controller designing is divided into three steps based on the backstepping method, which are designing of the speed and ballistic subsystem, the pneumatic angle subsystem and the angular rate subsystem respectively. The sliding mode control is used in every subsystem. The affection of aerodynamic parameters perturbation and external disturbance are estimated and compensated based on the extended state observer. Simulation results show the tracking features of controller and the coordinated attacking effect.