Volume 39, Number 2, April 2021
|249 - 257
|09 June 2021
Cooperative control method of multi-missile formation under uncontrollable speed
School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China
2 Spacecraft Survival Technology and Effectiveness Evaluation Laboratory, Beijing 100085, China
Under the missile speed is uncontrollable, a design method of multi-missile formation flight controller based on the sliding mode variable structure control theory and adaptive dynamic surface control theory is proposed. Firstly, according to the relative position of the leader and the follower in the inertial frame, the tracking error model for the relative position and the expected relative position between the leader and the follower is obtained, and the multi-missile formation control system in the inertial coordinate system is obtained. Secondly, in order to obtain the expression of the formation control system in the ballistic coordinate system, the acceleration of the missile in the ballistic coordinate system is converted to the inertial coordinate system. Combining with the tracking of the relative position and the desired relative position of the leader and the followers, we can obtain the simplified error model for the formation control system. Then the sliding mode variable structure control theory and the adaptive dynamic surface control theory are used to design the formation controllers for the leader and follower missiles respectively, and the stability of the present controller is analysed via the Lyapunov stability theory. Finally, the designed formation controllers are used for the leader and follower missiles to simulate the parameters. The results verify the feasibility and effectiveness of the present method.
Key words: multi-missile formation / sliding mode variable structure control / dynamic surface / a leader-follower strategy
关键字 : 多弹编队 / 滑模变结构控制 / 动态面 / 领弹-从弹策略
© 2021 Journal of Northwestern Polytechnical University. All rights reserved.
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