Autonomous cooperative control method and system based on distributed consistency and self-networking

Abstract

The invention discloses an autonomous cooperative control method and system based on distributed consistency and self-networking. The control method comprises guidance control, coordination control and autonomous management; an on-board computer conducts ontology guidance on a single aircraft through adopting terminal time and angle controlled guidance instruction by taking to-fly time as a coordination variable; according to a space-time cooperative control method based on the distributed consistency in a group cooperative flight network, cooperative arrival time of a group is determined according to predicted to-fly time of each aircraft and the cooperative arrival time is used as the terminal time of the guidance control; and adaptive networking is carried out according to the current flight state of each aircraft and the control capability constraint of each aircraft in the group, and the coordination control based group cooperative flight network is adjusted in real time. According to the method, flight dynamics, optimal control and consistency theories are integrated to achieve the purpose of guidance, the complex environment and fault processing capability of the group can be effectively improved, the cooperative guidance precision is high, the communication traffic is small, and the realization difficulty is reduced.

Description

technical field [0001] The invention belongs to the technical field of aircraft guidance and control, and relates to an autonomous cooperative control method and system based on distributed consistency and ad hoc network. Background technique [0002] Cooperative flight is to cooperate and cooperate with each other among multiple aircraft of the same type or different type to jointly perform various missions such as detection, penetration, and strike. With the purpose of adjusting the flight mode and adapting to future complex flight missions, all members form an overall network. Under the control and management of the network command center, the aircraft communicate with each other, share information, and learn from each other. Coordinated flight can not only greatly improve the overall penetration capability, detection and destruction capabilities of targets, but also reduce communication costs through distributed information exchange, and reduce control costs by achieving...

AI Technical Summary

Problems solved by technology

The existing cooperative guidance method is difficult to deal with the complex flight environment and the failure of the aircraft itself, and the accuracy of the cooperative guidance is not good; if a certain aircraft fails during the mission, it will seriously affect the expected terminal time of other aircraft, resulting in the inability to wait for flight time. Normal convergence, which in turn causes the guidance error to increase significantly, and even leads to the failure of the flight mission

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