Non-smooth Three-dimensional Cooperative Guidance Law and System Based on Event-driven Mechanism

Abstract

The present invention discloses a non-smooth three-dimensional cooperative guidance law and system based on an event-driven mechanism, belonging to the multi-missile cooperative guidance technology. First, according to the relative motion relationship between the missile and the target, a relative dynamics equation set is constructed, and a relative dynamics model of the missile and the target is further established; secondly, a finite-time observer is designed to observe the components of the acceleration of the maneuvering target in the line-of-sight, pitch, and yaw directions; then, using the information interaction between the missile groups, a three-dimensional cooperative guidance law in the line-of-sight, pitch, and yaw directions is designed to make the relative distance between the missile and the target reach consistency in a finite time and the line-of-sight angle converge to the expected value; finally, a non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism is designed, taking into account both the completion of the guidance task and the reduction of the control frequency. The simulation results show that the guidance law designed by the present invention can enable the missile groups to hit the target simultaneously with a lower control update frequency, improving the cost-effectiveness of the missiles.

Description

Technical Field

[0001] The present invention relates to the technical field of cooperative guidance, and more particularly to a non-smooth three-dimensional cooperative guidance law and system based on an event-driven mechanism. Background Art

[0002] Multi-missile cooperative guidance uses modern communication methods to form a communication network among the missile group and enable the state information between neighbors to be transmitted to each other, so as to coordinate the arrival time of the missiles at the target and finally achieve simultaneous hitting of the target. The design of the guidance law is closely related to the selection of the consistency variable. The consistency variable includes the remaining time estimation and the missile-target relative distance. The remaining time estimation is widely favored for its intuitiveness. However, when the maneuverability of the target or external disturbances cannot be ignored, the error between the remaining time estimation and the actual value is large, which will cause the failure of the cooperative mission. With the progress of sensor technology, the measurement accuracy of the missile-target relative distance is relatively high. Taking the missile-target relative distance as the consistency variable and making the relative distance consistent in time can also achieve simultaneous hitting and avoid the error in the estimation of the hitting time.

[0003] In practical applications, the traditional control signal sampling is time-driven, that is, the control signal is sampled at equal time intervals, resulting in a large number of control updates and reducing the service life of the controller. To improve this, the present invention introduces an event-driven mechanism. The core idea of the event-driven mechanism is to update only when a certain event is triggered and remain unchanged at other times on the premise of ensuring the success of the guidance mission. Compared with time-driven, the event-driven significantly reduces the control frequency and thus reduces the fuel consumption. Therefore, the non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism has significant engineering significance.

[0004] Therefore, how to design a cooperative guidance law based on the event-driven mechanism to coordinate the arrival time and angle of the missiles at the target and improve the accuracy of multi-missile cooperative hitting of the target is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a non-smooth three-dimensional cooperative guidance law and system based on an event-driven mechanism. Using the missile-target distance as the coordination variable, a non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism is designed, so that the consistency error of the missile-target relative distance converges to a neighborhood near zero within a finite time, and at the same time, the line-of-sight inclination angle and the line-of-sight deflection angle converge to the desired angles, ensuring that the missile does not miss the target. In addition, the present invention designs a corresponding trigger function for the guidance law, reducing the control frequency and saving fuel consumption.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] The non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism includes the following methods:

[0008] Step 1: Obtain the relative motion information of the missile and the target, establish the relative motion equation of the missile and the target, and construct a three-dimensional dynamic model of the missile and the target according to the relative motion equation of the missile and the target;

[0009] Step 11: Obtain the relative motion information of the missile and the target, and establish the relative motion equation of the missile and the target, expressed as:

[0010]

[0011]

[0012]

[0013] where r i , ε i , β i respectively represent the relative distance, line-of-sight inclination angle, and line-of-sight deflection angle of the missile and the target in the relative motion information; respectively represent the acceleration components of the target in the line-of-sight direction, pitch direction, and yaw direction; respectively represent the acceleration components of missile i in the line-of-sight direction, pitch direction, and yaw direction;

[0014] Step 12: Construct new state variables according to the relative motion information of the missile and the target, expressed as:

[0015]

[0016] where, represents the relative velocity of the missile and the target; represents the derivative of the line-of-sight inclination angle; represents the derivative of the line-of-sight deflection angle; respectively represent the desired line-of-sight inclination angle and the desired line-of-sight deflection angle;

[0017] Step 13: Construct a three-dimensional dynamic model of the missile and the target according to the relative motion equation and the new state variables, expressed as:

[0018]

[0019]

[0020] where, are respectively the nonlinear terms of the three-dimensional dynamic model of the missile and the target; respectively represent the acceleration components of the target in the line-of-sight direction, pitch direction, and yaw direction

[0021] Step 2: Construct a finite-time disturbance observer based on the relative motion information of the missile and the target, and use the finite-time disturbance observer to obtain the acceleration components of the target in the line-of-sight direction, pitch direction, and yaw direction;

[0022] Step 21: Establish a finite-time observer in the line-of-sight direction to observe the acceleration component d of the target in the line-of-sight direction ri :

[0023]

[0024] wherein, is the estimate of x 2i , is the estimate of the target maneuver d ri ; L r is the upper bound of the acceleration component of the target in the line-of-sight direction , that is σ1 > 0, σ2 > 0 are the observer coefficients respectively; sig γ (x) = sign(x)|x| γ , γ > 0, sign(·) is the sign function;

[0025] Step 22: Establish a finite-time observer in the pitch direction to observe the acceleration component d of the target in the pitch direction εi , expressed as:

[0026]

[0027] wherein, represents the pitch direction component of the relative velocity; is the estimate of ; is the estimate of the acceleration component d of the target in the pitch direction εi ; L ε is the upper bound of, that is

[0028] Step 23: Establish a finite-time observer in the yaw direction to observe the acceleration component d of the target in the yaw direction βi , expressed as:

[0029]

[0030] wherein, represents the yaw direction component of the relative velocity, the estimate of ; is the estimate of the target maneuver ; L β > 0 is the derivative of the acceleration component of the target in the yaw direction Upper bound;

[0031] Step 3: Utilize the communication graph among the missiles, and construct the three-dimensional cooperative guidance laws in the line-of-sight direction, pitch direction, and yaw direction according to the three-dimensional dynamic model and acceleration components of the missile and the target, so that the missile group hits the target simultaneously with the desired line-of-sight inclination angle and line-of-sight deflection angle;

[0032] Step 31: Set the three-dimensional cooperative guidance law in the line-of-sight direction according to the three-dimensional dynamic model of the missile and the target, expressed as:

[0033]

[0034]

[0035]

[0036]

[0037] where α1 > 0, α2 > 0, α3 > 0, α4 > 0, γ ∈ (0, 1), μ1 >> 1 are respectively the guidance law parameters; is the relative distance consistency error, x 1i represents the remaining distance between the i-th missile and the target, x 1j represents the remaining distance between the j-th missile and the target; is the relative velocity line-of-sight component consistency error; a ij is the adjacency matrix component corresponding to the communication graph G = (V, E) among the missiles, where V = {1,..., n} is the vertex set, is the edge set; the adjacency matrix A = [a ij , a ii = 0, a ij = a ji > 0, i ≠ j; is the specified convergence value of the relative velocity line-of-sight component;

[0038] Step 32: Set the three-dimensional cooperative guidance law in the pitch direction according to the three-dimensional dynamic model of the missile and the target, expressed as:

[0039]

[0040] where s 1i represents the sliding mode surface, s 1i = x 3i + ρsig τ (x 4i ); ρ > 0, τ ∈ (1, 2) are respectively the sliding mode surface parameters; ν1 > 0, ν2 > 0, μ2 >> 1 are respectively the guidance law parameters;

[0041] Step 33: Set the three-dimensional cooperative guidance law in the yaw direction according to the three-dimensional dynamic model of the missile and the target, expressed as:

[0042]

[0043] where s 2i represents the sliding mode surface, s 2i = x 5i + ρ sig τ (x 6i ); ν3 > 0, v4 > 0, μ2 >> 1 are respectively the guidance law parameters;

[0044] Step 4: Select the event-triggered function to calculate the control trigger time sequence of the three-dimensional cooperative guidance law, and construct an event-driven non-smooth three-dimensional cooperative guidance law in combination with the three-dimensional cooperative guidance law to control the missile, so as to meet the requirements of achieving the guidance task and reducing the control frequency;

[0045] Step 41: According to the three-dimensional cooperative guidance law in the line-of-sight direction, establish an event-driven non-smooth three-dimensional cooperative guidance law in the line-of-sight direction, expressed as:

[0046]

[0047] The control trigger time sequence in the line-of-sight direction is:

[0048]

[0049] where η r > 0, ω r > 0 are respectively the non-smooth three-dimensional cooperative guidance law parameters; according to the finite-time convergence theory, the relative distance between the missile and the target will reach consistency within a finite time, and the error is controlled within a neighborhood near zero;

[0050] Step 42: According to the three-dimensional cooperative guidance law in the pitch direction, establish an event-driven non-smooth three-dimensional cooperative guidance law in the pitch direction, expressed as:

[0051]

[0052] The control trigger time sequence in the pitch direction is:

[0053]

[0054] where η ε > 0, ω ε > 0 are respectively the non-smooth three-dimensional cooperative guidance law parameters; according to the finite-time convergence theory, the difference x 3i between the line-of-sight inclination angle and the desired line-of-sight inclination angle and the line-of-sight inclination angle rate x 4i will converge to a neighborhood near zero within a finite time;

[0055] Step 43: According to the three-dimensional cooperative guidance law in the yaw direction, establish a non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism in the yaw direction, expressed as:

[0056]

[0057] The control trigger time sequence in the yaw direction is:

[0058]

[0059] where η β > 0, ω β > 0 are respectively the parameters of the non-smooth three-dimensional cooperative guidance law; according to the finite-time convergence theory, the difference x 5i between the line-of-sight angle and the desired line-of-sight angle and the line-of-sight angle rate x 6i will converge to a neighborhood near zero within a finite time.

[0060] The non-smooth three-dimensional cooperative guidance system based on the event-driven mechanism includes a model construction module, an observer module, a three-dimensional cooperative guidance module, and an event-driven guidance module;

[0061] The model construction module obtains the relative motion information of the missile and the target, establishes the relative motion equation of the missile and the target, and constructs the three-dimensional dynamic model of the missile and the target according to the relative motion equation of the missile and the target;

[0062] The observer module constructs a finite-time disturbance observer according to the relative motion information of the missile and the target, and uses the finite-time disturbance observer to obtain the acceleration components of the target in the line-of-sight direction, pitch direction, and yaw direction;

[0063] The three-dimensional cooperative guidance module uses the communication graph between missile groups and constructs the three-dimensional cooperative guidance laws in the line-of-sight direction, pitch direction, and yaw direction according to the three-dimensional dynamic model of the missile and the target;

[0064] The event-driven guidance module selects an event trigger function to calculate the control trigger time sequence of the three-dimensional cooperative guidance law, combines the three-dimensional cooperative guidance law to construct a non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism, and controls the missile.

[0065] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a non-smooth three-dimensional cooperative guidance law and system based on an event-driven mechanism. By selecting the distance, relative velocity, attack angle and their derivatives between the missile and the target as state variables, the relative dynamic equation between the missile and the target is transformed into a second-order system. A finite-time observer is used to observe the disturbances in the line-of-sight direction, pitch direction and yaw direction caused by the acceleration of the maneuvering target, and then the acceleration of the missile and the update condition based on event triggering are designed, so that the missile group hits the target simultaneously at different attack angles. Compared with the traditional guidance law: First, the present invention proposes a non-smooth three-dimensional cooperative guidance law based on event-driven, which makes the consistency variable converge within a finite time and reduces the control frequency. Second, the consistency variable of this guidance law is the relative distance between the missile and the target rather than the remaining time estimation, avoiding the time estimation error caused by external disturbances. Third, the present invention designs a finite-time observer, which can quickly estimate the target acceleration and improve the robustness of the guidance law. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0067] Figure 1 Schematic diagram of the non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism provided by the present invention;

[0068] Figure 2 Schematic diagram of the three-dimensional relative dynamics of the missile-target provided by the present invention;

[0069] Figure 3 Communication topology diagram of the missile in the embodiment provided by the present invention;

[0070] Figure 4 Schematic diagram of the external disturbance observation error in the embodiment provided by the present invention; (a), (b), and (c) are the target observer errors in the line-of-sight direction, pitch direction, and yaw direction respectively;

[0071] Figure 5 Change curve of the missile state in the embodiment provided by the present invention; (a) is the flight trajectories of the missile and the target, (b) is the relative distance between the missile and the target, (c) is the line-of-sight component of the relative velocity between the missile and the target, (d) is the line-of-sight inclination angle, (e) is the difference between the line-of-sight inclination angle and the desired line-of-sight inclination angle, (f) is the line-of-sight inclination rate, (g) is the line-of-sight deviation angle, (h) is the difference between the line-of-sight deviation angle and the desired line-of-sight deviation angle, (i) is the line-of-sight deviation rate;

[0072] Figure 6 Schematic diagram of acceleration components of the missile in the line-of-sight direction, pitch direction, and yaw direction in the embodiments provided by the present invention;

[0073] Figure 7 Schematic diagram of the control update moments of the missile in the line-of-sight direction, pitch direction, and yaw direction in the embodiments provided by the present invention. Specific embodiments

[0074] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0075] The embodiments of the present invention disclose a non-smooth three-dimensional cooperative guidance law based on an event-driven mechanism, as Figure 1 shown, including the following steps:

[0076] S1: Obtain the relative motion information of the missile and the target, establish the relative motion equation of the missile and the target, and construct the three-dimensional dynamic model of the missile and the target according to the relative motion equation of the missile and the target;

[0077] S11: Obtain the relative motion information of the missile and the target, and establish the relative motion equation of the missile and the target, expressed as:

[0078]

[0079]

[0080]

[0081] where r i , ε i , β i respectively represent the relative distance, line-of-sight inclination angle, and line-of-sight deflection angle of the missile and the target in the relative motion information; respectively represent the acceleration components of the target in the line-of-sight direction, pitch direction, and yaw direction; respectively represent the acceleration components of missile i in the line-of-sight direction, pitch direction, and yaw direction;

[0082] S12: Construct new state variables according to the relative motion information of the missile and the target, expressed as:

[0083]

[0084] where represents the relative velocity of the missile and the target; Denote the derivative of the line-of-sight inclination angle; Denote the derivative of the line-of-sight declination angle; Denote the expected value of the line-of-sight inclination angle and the expected value of the line-of-sight declination angle respectively;

[0085] S13: Construct a three-dimensional dynamic model of the missile and the target according to the relative motion equation and the new state variables, expressed as:

[0086]

[0087]

[0088] where, f ri 、 f βi are the non-linear terms of the three-dimensional dynamic model of the missile and the target respectively; Denote the acceleration components of the target in the line-of-sight direction, pitch direction and yaw direction respectively

[0089] S2: Construct a finite-time disturbance observer according to the relative motion information of the missile and the target, and use the finite-time disturbance observer to obtain the acceleration components of the target in the line-of-sight direction, pitch direction and yaw direction;

[0090] S21: Establish a finite-time observer in the line-of-sight direction to observe the acceleration component d ri :

[0091]

[0092] where, is the estimate of x 2i , is the estimate of the target maneuver d ri ; L r is 's upper bound, that is σ1>0, σ2>0 are the observer coefficients respectively; sig γ (x)=sign(x)|x| γ , γ>0, sign(·) is the sign function;

[0093] S22: Establish a finite-time observer in the pitch direction to observe the acceleration component d εi of the target in the pitch direction, expressed as:

[0094]

[0095] where, Denote the pitch direction component of the relative velocity; is the estimate of ; is the target maneuver d εi estimation; L ε is the upper bound, that is

[0096] S23: Establish a finite-time observer in the yaw direction to observe the acceleration component d of the target in the yaw direction βi , expressed as:

[0097]

[0098] where represents the yaw direction component of the relative velocity, for estimation; is the target maneuver estimation; L β > 0 is derivative upper bound;

[0099] S3: Utilize the communication graph among the missile swarm, and construct a three-dimensional cooperative guidance law in the line-of-sight direction, pitch direction, and yaw direction according to the three-dimensional dynamic model and acceleration components of the missile and the target, so that the missile swarm hits the target simultaneously with the desired line-of-sight inclination angle and line-of-sight deflection angle;

[0100] S31: Set the three-dimensional cooperative guidance law in the line-of-sight direction according to the three-dimensional dynamic model of the missile and the target, expressed as:

[0101]

[0102]

[0103]

[0104]

[0105] where α1 > 0, α2 > 0, α3 > 0, α4 > 0, γ ∈ (0, 1), μ1 >> 1 are respectively the guidance law parameters; is the relative distance consistency error, x 1i represents the remaining distance between the i-th missile and the target, x 1j represents the remaining distance between the j-th missile and the target; is the relative velocity line-of-sight component consistency error; a ij is the adjacency matrix component corresponding to the communication graph G = (V, E) among the missiles, where V = {1,..., n} is the vertex set, is the edge set; the adjacency matrix A = [a ij , a ii = 0, a ij= a ji > 0, i ≠ j; is the convergence value of the specified relative velocity line-of-sight component;

[0106] S32: Set the three-dimensional cooperative guidance law in the pitch direction according to the three-dimensional dynamic model of the missile and the target, expressed as:

[0107]

[0108] where s 1i represents the sliding mode surface, s 1i = x 3i + ρsigτ(x 4i ); ρ > 0, τ ∈ (1, 2) are the sliding mode surface parameters respectively; v1 > 0, v2 > 0, μ2 >> 1 are the guidance law parameters respectively;

[0109] S33: Set the three-dimensional cooperative guidance law in the yaw direction according to the three-dimensional dynamic model of the missile and the target, expressed as:

[0110]

[0111] where s 2i represents the sliding mode surface, s 2i = x 5i + σsig τ (x 6i ); v3 > 0, v4 > 0, μ2 >> 1 are the guidance law parameters respectively;

[0112] S4: Select the event trigger function to calculate the control trigger moment sequence of the three-dimensional cooperative guidance law, and construct an event-driven non-smooth three-dimensional cooperative guidance law in combination with the three-dimensional cooperative guidance law to control the missile, so as to meet the requirements of achieving the guidance task and reducing the control frequency;

[0113] S41: According to the three-dimensional cooperative guidance law in the line-of-sight direction, establish a non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism in the line-of-sight direction, expressed as:

[0114]

[0115] The control trigger moment sequence in the line-of-sight direction is:

[0116]

[0117] where η r > 0, ω r > 0 are the non-smooth three-dimensional cooperative guidance law parameters respectively; according to the finite-time convergence theory, the relative distance between the missile and the target will reach consistency in finite time, and the error is controlled within a neighborhood near zero;

[0118] S42: Establish a non - smooth three - dimensional cooperative guidance law based on the event - driven mechanism in the pitch direction according to the three - dimensional cooperative guidance law in the pitch direction, expressed as:

[0119]

[0120] The control trigger time sequence in the pitch direction is:

[0121]

[0122] where η ε > 0, ω ε > 0 are respectively the parameters of the non - smooth three - dimensional cooperative guidance law; according to the finite - time convergence theory, the difference x 3i between the line - of - sight inclination angle and the desired line - of - sight inclination angle and the line - of - sight inclination rate x 4i will converge to a neighborhood near zero within a finite time.

[0123] S43: Establish a non - smooth three - dimensional cooperative guidance law based on the event - driven mechanism in the yaw direction according to the three - dimensional cooperative guidance law in the yaw direction, expressed as:

[0124]

[0125] The control trigger time sequence in the yaw direction is:

[0126]

[0127] where η β > 0, ω β > 0 are respectively the parameters of the non - smooth three - dimensional cooperative guidance law; according to the finite - time convergence theory, the difference x 5i between the line - of - sight deviation angle and the desired line - of - sight deviation angle and the line - of - sight deviation rate x 6i will converge to a neighborhood near zero within a finite time.

[0128] On the other hand, in a specific embodiment, MATLAB 2022b is used as the simulation calculation software, and based on the non - smooth three - dimensional cooperative guidance law based on the event - driven mechanism of the present invention, the flight trajectories of the missile and the target and the changes in the system state are simulated. The parameter settings used in this embodiment are shown in Table 1:

[0129] Table 1: Simulation setting parameters

[0130] Parameter Value Parameter Value Parameter Value Parameter Value <![CDATA[σ1]]> 2 <![CDATA[σ2]]> 1 <![CDATA[L r > 10 <![CDATA[L ε > 10 <![CDATA[L β > 10 γ 0.5 <![CDATA[α1]]> 0.2 <![CDATA[α2]]> 0.1 <![CDATA[μ1]]> 100 <![CDATA[α3]]> 1 <![CDATA[α4]]> 1 <![CDATA[η r > 20 <![CDATA[ω r > 0.05 ρ 4 τ 1.5 <![CDATA[v1]]> 0.5 <![CDATA[v2]]> 0.5 <![CDATA[μ2]]> <![CDATA[10 7 > <![CDATA[η ε > 10 <![CDATA[ω ε > 0.04 <![CDATA[v3]]> 0.4 <![CDATA[v4]]> 0.4 <![CDATA[η β > 20 <![CDATA[ω β > 0.05

[0131] The adjacency matrix in this embodiment is as follows:

[0132]

[0133] Figure 4 is the error curve of the finite-time observer for target maneuver, Figure 4 (a)- Figure 4 (c) are the target observer errors in the line-of-sight direction, pitch direction, and yaw direction respectively. It can be seen that the observer estimates the target acceleration in a relatively short time. Figure 5 is the change of the system state in this embodiment, Figure 5 (a)- Figure 5 (i) respectively show the flight trajectories of the missile and the target, the relative distance between the missile and the target, the line-of-sight component of the relative velocity between the missile and the target, the line-of-sight angle, the difference between the line-of-sight angle and the desired line-of-sight angle, the line-of-sight angle rate, the line-of-sight deflection angle, the difference between the line-of-sight deflection angle and the desired line-of-sight deflection angle, and the line-of-sight deflection angle rate, indicating that the missile hits the target at a specified angle simultaneously and completes the guidance mission. Figure 6 in Figure 6 (a)- Figure 6 (c) respectively show the acceleration components of the missile in the line-of-sight direction, pitch direction, and yaw direction. Figure 7 in Figure 7 (a)- Figure 7 (c) respectively show the control update moments of the missile in the line-of-sight direction, pitch direction, and yaw direction. It can be seen that the update interval of the missile acceleration is relatively large, significantly reducing the control frequency. The simulation results show that the guidance law of the present invention reduces the update frequency of the acceleration on the premise of ensuring that the missile hits the target simultaneously.

[0134] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, refer to the description in the method section.

[0135] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A non-smooth three-dimensional cooperative guidance law based on an event-driven mechanism, characterized in that, It includes the following steps: Step 1: Obtain the relative motion information of the missile and the target, establish the relative motion equation of the missile and the target, and construct a three-dimensional dynamic model of the missile and the target according to the relative motion equation of the missile and the target; Step 2: Construct finite-time disturbance observers in the line-of-sight direction, pitch direction, and yaw direction according to the relative motion information of the missile and the target, and use the finite-time disturbance observers to obtain the acceleration components of the target in the line-of-sight direction, pitch direction, and yaw direction; Step 3: Utilize the communication graph among the missile swarm, and construct three-dimensional cooperative guidance laws in the line-of-sight direction, pitch direction, and yaw direction according to the three-dimensional dynamic model of the missile and the target and the acceleration components; Step 4: Select an event-triggering function to calculate the control trigger moment sequence of the three-dimensional cooperative guidance law, and combine the three-dimensional cooperative guidance law to construct an event-driven non-smooth three-dimensional cooperative guidance law to control the missile; Step 1 specifically includes: Step 11: Obtain the relative motion information of the missile and the target, and establish the relative motion equation of the missile and the target; Step 12: Construct new state variables according to the relative motion information of the missile and the target; Among them, represents the relative velocity between the missile and the target; represents the derivative of the line-of-sight inclination angle; represents the derivative of the line-of-sight deflection angle; respectively represent the expected line-of-sight inclination angle and the expected line-of-sight deflection angle; Step 13: Construct a three-dimensional dynamic model of the missile and the target according to the relative motion equation and the new state variables, expressed as: Among them, respectively represent the acceleration components of the target in the line-of-sight direction, pitch direction, and yaw direction; respectively represent the acceleration components of missile i in the line-of-sight direction, pitch direction, and yaw direction; f ri 、 f βi are respectively the nonlinear terms of the three-dimensional dynamic models of the missile and the target; Set the three-dimensional cooperative guidance law in the line-of-sight direction according to the three-dimensional dynamic model of the missile and the target, expressed as: where, α1 > 0, α2 > 0, α3 > 0, α4 > 0, γ ∈ (0, 1), μ1 >> 1, are guidance law parameters respectively; is the relative distance consistency error, x 1i represents the remaining distance between the i-th missile and the target, x 1j represents the remaining distance between the j-th missile and the target; is the relative velocity line-of-sight component consistency error; a ij is the adjacency matrix component corresponding to the communication graph G = (V, E) between missiles, where V = {1,..., n} is the vertex set, is the edge set; the adjacency matrix A = [a ij , a ii = 0, a ij = a ji > 0, i ≠ j; is the convergence value of the specified relative velocity line-of-sight component.

2. The non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism according to claim 1, wherein The relative motion equation of the missile and the target is expressed as: Among them, r i , ε i , β i respectively represent the relative distance, line-of-sight inclination angle, and line-of-sight deflection angle between the missile and the target in the relative motion information; respectively represent the acceleration components of the target in the line-of-sight direction, pitch direction, and yaw direction; respectively represent the acceleration components of missile i in the line-of-sight direction, pitch direction, and yaw direction.

3. The non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism according to claim 2, characterized in that, Step 2 specifically includes: Step 21: Establish a finite-time observer for the line-of-sight direction to observe the acceleration component of the target in the line-of-sight direction Among them, is an estimate of x 2i , is an estimate of the target maneuver d ri ; L r is the upper bound of the acceleration component of the target in the line-of-sight direction , that is σ1 > 0, σ2 > 0 are the observer coefficients respectively; sig γ (x) = sign(x)|x| γ , γ > 0, sign(·) is the sign function; Step 22: Establish a finite-time observer in the pitch direction to observe the acceleration component of the target in the pitch direction Expressed as: Among them, represents the pitch direction component of the relative velocity; is an estimation of ; is an estimation of the target maneuver d εi ; L ε is the upper bound of the acceleration component of the target in the pitch direction , that is Step 23: Establish a finite-time observer in the yaw direction to observe the acceleration component d of the target in the yaw direction βi , which is expressed as: Among them, represents the yaw direction component of the relative velocity, the estimation of ; is the estimation of the target maneuver d βi ; L β >0 is the upper bound of the derivative of the acceleration component of the target in the yaw direction .

4. The non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism according to claim 3, characterized in that, Step 3 specifically includes: Step 31: Set the three-dimensional cooperative guidance law in the line-of-sight direction according to the three-dimensional dynamic model of the missile and the target; Step 32: Set the three-dimensional cooperative guidance law in the pitch direction according to the three-dimensional dynamic model of the missile and the target, expressed as: Among them, s 1i represents the sliding mode surface, and s 1i = x 3i + ρsig τ (x 4i ); ρ > 0, τ ∈ (1, 2) are respectively the sliding mode surface parameters; v1 > 0, v2 > 0, μ2 >> 1 are respectively the guidance law parameters; Step 33: Set the three-dimensional cooperative guidance law in the yaw direction according to the three-dimensional dynamic model of the missile and the target, expressed as: where s 2i represents the sliding mode surface, and s 2i = x 5i + ρsig τ (x 6i ); v3 > 0, v4 > 0, μ2 >> 1 are respectively the guidance law parameters.

5. The non-smooth three-dimensional cooperative guidance law based on the event-driven mechanism according to claim 4, characterized in that, Step 4 specifically includes: Step 41: According to the three-dimensional cooperative guidance law in the line-of-sight direction, establish an event-driven non-smooth three-dimensional cooperative guidance law in the line-of-sight direction, expressed as: The control trigger moment sequence in the line-of-sight direction is: where η r > 0, ω r > 0 are respectively the parameters of the non-smooth three-dimensional cooperative guidance law; Step 42: According to the three-dimensional cooperative guidance law in the pitch direction, establish an event-driven non-smooth three-dimensional cooperative guidance law in the pitch direction, expressed as: The control trigger moment sequence in the pitch direction is: where, >0, >0, are respectively the parameters of the non-smooth three-dimensional cooperative guidance law; Step 43: According to the three-dimensional cooperative guidance law in the yaw direction, establish an event-driven non-smooth three-dimensional cooperative guidance law in the yaw direction, expressed as: The control trigger moment sequence in the yaw direction is: where, >0, >0, are respectively the parameters of the non-smooth three-dimensional cooperative guidance law.

6. A non-smooth three-dimensional cooperative guidance system based on an event-driven mechanism, characterized in that, Apply the event-driven non-smooth three-dimensional cooperative guidance law according to any one of claims 1-5, including a model construction module, an observer module, a three-dimensional cooperative guidance module, and an event-driven guidance module; The model construction module obtains the relative motion information of the missile and the target, establishes the relative motion equation of the missile and the target, and constructs a three-dimensional dynamic model of the missile and the target according to the relative motion equation of the missile and the target; An observer module that constructs a finite-time disturbance observer based on the relative motion information of the missile and the target, and uses the finite-time disturbance observer to obtain the acceleration components of the target in the line-of-sight direction, pitch direction, and yaw direction; A three-dimensional cooperative guidance module that uses the communication graph among the missile swarm to construct a three-dimensional cooperative guidance law in the line-of-sight direction, pitch direction, and yaw direction according to the three-dimensional dynamic models of the missile and the target; An event-driven guidance module that selects an event trigger function to calculate the control trigger time sequence of the three-dimensional cooperative guidance law, and combines the three-dimensional cooperative guidance law to construct a non-smooth three-dimensional cooperative guidance law based on event-driven to control the missile.

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