Multi-missile formation cooperative control method under condition of uncontrollable speed

Abstract

The invention relates to a multi-missile formation cooperative control method under the condition of uncontrollable speed, and the method employs a leading-slave type guidance strategy, enables the information transmission of a leading missile and a slave missile to be unidirectional, enables the slave missile to receive the leading missile information, and enables the leading missile not to receive the slave missile information. A sliding mode variable structure control theory is adopted to carry out formation controller design on the leading missile and the slave missile respectively; compared with a current multi-missile formation cooperative controller design method, the missile speed does not need to be controlled, the control law based on the sliding mode variable structure theory issimple, rapidity and stability are met, and formation and maintenance of the formation can also be achieved.

Description

technical field [0001] The invention relates to the technical field of missile formation control, in particular to a formation control method under the condition that the missile speed is uncontrollable. Background technique [0002] Multiple missiles form a formation system, and through information interaction, they can jointly complete tasks such as target search, which greatly enhances the probability of finding targets. Therefore, it is of great practical significance to study multi-missile formation flight. [0003] Traditional formation control strategies are divided into three categories: leader-follower-based formation control strategies, behavior-based formation control strategies and virtual structure-based formation control strategies. The virtual structure strategy is to maintain the formation by tracking the state information of the virtual structure, but the formation information interaction is more complicated; the behavior-based strategy is composed of a seri...

AI Technical Summary

Problems solved by technology

The virtual structure strategy is to maintain the formation by tracking the state information of the virtual structure, but the formation information interaction is more complicated; the behavior-based strategy is composed of a series of basic behaviors, including collision avoidance, formation maintenance, etc., and the control behavior is the weighted weight of these types On average, this method has strong applicability, but lacks the corresponding theoretical analysis basis; the leader-follower strategy adjusts the follower bombs by tracking the speed of the leader bomb, trajectory inclination, and trajectory deflection angle, so as to maintain the formation. The control strategy is easy to implement, so the current leader-follower formation control strategy is the most mature and mature

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