A Fast Cooperative Control Method and System for Multi-BTT Missiles Based on Non-Smooth Theory

Abstract

The present invention discloses a fast cooperative control method and system for multi-BTT missiles based on non-smooth theory, including: S1. Obtaining the measurement data of the gyroscope on the BTT missile and performing normalization processing, and calculating the attitude data through the normalized measurement data; S2. Designing a fast cooperative control protocol for multi-BTT missiles based on non-smooth theory and analyzing its rationality; S3. Inputting the normalized measurement data and the calculated attitude data in step S1 into the fast cooperative control protocol for multi-BTT missiles designed in step S2, and outputting the BTT missile rudder deflection control signal; S4. Inputting the BTT missile rudder deflection control signal obtained in step S3 into the BTT missile system to obtain a fast cooperative system for multi-BTT missiles; The present invention can achieve finite-time convergence of the attitude system and ensure that the missile attitude angle is within the safe limit range, and can meet the requirements of fastness and safety for multi-missile cooperative control.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and more particularly to a fast cooperative control method and system for multi-BTT missiles based on nonsmooth theory. Background Art

[0002] At present, many missile systems adopt the bank-to-turn (BTT) technology to enhance the maneuverability and attack accuracy of the missile system, which are called BTT missiles. BTT missiles control their roll channels to quickly adjust their maximum lift surfaces to the required directions and control their pitch channels to generate the required overload within the maximum lift surfaces, so as to achieve rapid maneuvering. Therefore, for BTT missiles, it is particularly important to deeply study the control system of their roll channels.

[0003] The dynamic model of the roll channel of a BTT missile can be modeled as a time-varying second-order linear model, which has unknown time-variation and uncertainty: due to the existence of model time-variation, people usually only design the system parameters corresponding to some important moments, resulting in a step change of the controller with respect to time; during the flight of the missile, due to the unknown variation laws of factors such as atmospheric density, there are large errors in the parameters in the autopilot, that is, uncertainty. The existence of parameter uncertainty may have a greater impact on the stability and performance of the designed autopilot, and even damage the stability and performance of the autopilot; these two factors together make it difficult to design the cooperative control law of BTT missiles.

[0004] In addition, in the actual system, the system state is restricted by the actual system requirements. Taking the missile system as an example, too large an attitude angle will cause the missile to fly unstably. Therefore, it is necessary to consider the problem of restricted attitude control of the roll channel system of BTT missiles.

[0005] Therefore, how to solve the unknown time-variation and uncertainty existing in the dynamic model of the roll channel of BTT missiles, as well as the problem of restricted attitude control of the system, is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a fast cooperative control method and system for multi-BTT missiles based on nonsmooth theory to solve some of the technical problems mentioned in the background art.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A fast cooperative control method for multi-BTT missiles based on nonsmooth theory includes the following steps:

[0009] S1. Obtain the measurement data of the gyroscope on the BTT missile and perform normalization processing. Calculate the attitude data from the normalized measurement data;

[0010] S2. Design a multi-BTT missile fast cooperative control protocol based on non-smooth theory and analyze its rationality;

[0011] S3. Input the normalized measurement data and the calculated attitude data in step S1 into the multi-BTT missile fast cooperative control protocol designed in step S2, and output the BTT missile rudder deflection control signal;

[0012] S4. Input the BTT missile rudder deflection control signal obtained in step S3 into the BTT missile system to obtain a multi-BTT missile fast cooperative system.

[0013] Preferably, in step S1, the method for normalizing the measurement data is:

[0014]

[0015] where ω g = [ω x , ω y , ω z T is the normalized measurement data, and the symbol ||·|| represents the two-norm of the vector. v g = [v x , v y , v z T is the measurement data of the three-axis gyroscope on the BTT missile;

[0016] The method for calculating the attitude data is:

[0017]

[0018] where ω = ω g = [ω x , ω y , ω z T is the angular velocity of the BTT missile, which is the normalized measurement data. γ = [γ x , γ y , γ z T is the attitude angle of the BTT missile, T0 is the initial time; T is the current time.

[0019] Preferably, the specific content of step S2 includes:

[0020] ​​​​S21. Establish the dynamic model of the roll channel of the missile: construct the state equation of the BTT missile system, and use algebraic graph theory to describe the communication topology of multiple BTT missile systems;

[0021] S22. Design a virtual controller based on the barrier Lyapunov function and multi-agent theory;

[0022] S23. Design a cooperative control protocol based on the designed virtual controller using non-smooth theory;

[0023] S24. Analyze the rationality of the cooperative control system to verify whether each BTT missile reaches a consistent reference command signal within a finite time, and all signals in the closed-loop system are bounded and the roll angle satisfies the constraint conditions.

[0024] Preferably, the modeling method in step S21 is specifically as follows:

[0025] Let the missile swarm system composed of N BTT missiles be denoted as Γ = {1,..., N};

[0026] Model the roll channel dynamics of the i-th missile as:

[0027]

[0028] where: γ i 、ω i 、δ i are respectively the roll angle, roll angular velocity, and rudder deflection angle to be designed of the missile, c 1i (t) and c 2i (t) are time-varying parameters related to the missile speed, characteristic length, dynamic pressure, and environmental factors, c 1i 、 c 2i 、 are all known constants;

[0029] The communication connections between all BTT missiles form an undirected connected graph, and the number of missiles that can receive the reference command signal is greater than or equal to 1, that is The initial roll angles of all missiles satisfy:

[0030] |γi(t0)| < M1;

[0031]

[0032] where, M1 and M2 are positive constants;

[0033] The method for designing the virtual controller in step S22 is:

[0034] Design an attitude coordination control law such that under the action of the control law, the roll angles of all missiles can reach a constant reference command signal γ within a finite time d , and satisfy the constraint conditions, i.e., |γ i (t)| < M1 and |γ i (t) - γ j (t)| < M2;

[0035] Specifically:

[0036] Let Define the Lyapunov function V1:

[0037]

[0038] where k b1 ≥ M1 - |γ d |, k ba ≥ M2;

[0039] Taking the derivative of V1 gives:

[0040]

[0041] where is the virtual angular velocity, i.e., the virtual controller;

[0042] Then:

[0043]

[0044] where Taking

[0045] We can get:

[0046]

[0047] The specific method for designing the cooperative control protocol in step S23 is:

[0048] Define the Lyapunov function V = V1 + V2:

[0049]

[0050] where sig φ (x) = sign(x)|x| φ , sign(·) represents the sign function;

[0051] Taking the derivative of V2 gives:

[0052]

[0053] In addition,

[0054]

[0055] then

[0056]

[0057] For the following inequality holds:

[0058]

[0059]

[0060] Then there is

[0061] wherein

[0062] the derivative of V2 is:

[0063]

[0064] Then, the designed control protocol is:

[0065]

[0066] where g1 = η i1 + Nη i2 + 2 1-2θ (2θ - 1) / θ + (3 - 2θ) θ k1 θ / 2θ-1 κ1 / 2 (2-2θ)θ , η i3 + Nη i4 + κ1, κ1 is a positive parameter that can be designed.

[0067] Preferably, the specific content of the rationality analysis of the cooperative control system is:

[0068] Substituting the control protocol gives:

[0069]

[0070] The derivative of V is:

[0071]

[0072] wherein

[0073]

[0074] When there is It can be obtained that:

[0075]

[0076] When λ min > 0, then:

[0077]

[0078] Also,

[0079]

[0080] Then:

[0081]

[0082] According to the non-smooth stability theory, there exists a moment T ≤ V 1-θ (0) / (κ1(1 - θ)) such that when t, V(t) = 0, that is, V1 = V2 = 0, then, γ i = γ j = γ d , That is, the consensus can be achieved within a finite time and the state of the consensus is γ d ;

[0083] Based on it can be obtained that From k b1 ≥ M1 - γ d , k ba ≥ M2, it can be known that |γ i | < M1 and |γ i - γ j | < M2, then all signals in the closed-loop system are bounded and the roll angle satisfies the constraint conditions.

[0084] Preferably, the method for outputting the BTT missile rudder deflection control signal in step S3 is:

[0085]

[0086] Where, ω x is the component in the normalized measurement data ω g = [ω x , ω y , ω z T , γ x is the component of the attitude data γ = [γ x , γ y , γ z T , γ j is the attitude data of the neighboring missile obtained through the communication network, and δ is the output BTT missile rudder deflection control signal, γ​​d is a constant reference instruction signal, k1, k b1 , k ba , θ are collaborative control protocol setting parameters, a ij , b i is an undirected connected graph of the system communication topology structure.

[0087] Preferably, the multi-BTT missile fast collaborative system obtained in step S4 is specifically:

[0088]

[0089] Among them, c1(t) and c2(t) are time-varying parameters, and δ is the BTT missile rudder deflection control signal.

[0090] A multi-BTT missile fast collaborative control system based on non-smooth theory, using the above-mentioned multi-BTT missile fast collaborative control method based on non-smooth theory to design a multi-BTT missile fast collaborative control system based on non-smooth theory.

[0091] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the above-mentioned multi-BTT missile fast collaborative control method based on non-smooth theory.

[0092] A processing terminal, including a memory and a processor, where a computer program that can run on the processor is stored in the memory, and when the processor executes the computer program, it implements the above-mentioned multi-BTT missile fast collaborative control method based on non-smooth theory.

[0093] Through the above technical solutions, compared with the prior art, the present invention discloses a multi-BTT missile fast collaborative control method and system based on non-smooth theory. A new barrier Lyapunov function is designed based on multi-agent theory, and a virtual angular velocity is designed using the new barrier Lyapunov function based on neighbor rules, and it is strictly proved that all BTT missiles satisfy the constraint conditions during the control process; based on the non-smooth theory of the multi-BTT missile roll channel coordination control protocol, it can ensure that all missiles achieve the same roll angle to the reference instruction signal within a finite time; the present invention can achieve finite-time convergence of the attitude system and ensure that the missile attitude angle is within a safe limited range, and can meet the requirements of multi-missile collaborative control for rapidity and safety; the present invention has high precision, the controller does not require complex operations, and is friendly to the software and hardware costs of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] 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, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0095] Figure 1 Schematic diagram of a fast cooperative control method for multi-BTT missiles based on non-smooth theory provided by the present invention;

[0096] Figure 2 Block diagram of the fast cooperative control protocol for multi-BTT missiles provided by the present invention;

[0097] Figure 3 Schematic diagram of the response curve of the missile attitude information provided by the embodiment of the present invention. Specific implementation manners

[0098] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the 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 belong to the scope of protection of the present invention.

[0099] The embodiment of the present invention discloses a fast cooperative control method for multi-BTT missiles based on non-smooth theory, including the following steps:

[0100] S1. Obtain the measurement data of the gyroscope on the BTT missile and perform normalization processing on it, and calculate the attitude data through the normalized measurement data;

[0101] S2. Design a fast cooperative control protocol for multi-BTT missiles based on non-smooth theory and analyze its rationality;

[0102] S3. Input the normalized measurement data and the calculated attitude data in step S1 into the fast cooperative control protocol for multi-BTT missiles designed in step S2, and output the BTT missile rudder deflection angle control signal;

[0103] S4. Input the BTT missile rudder deflection angle control signal obtained in step S3 into the BTT missile system to obtain a fast cooperative system for multi-BTT missiles.

[0104] To further implement the above technical solution, in step S1, the method for normalizing the measurement data is:

[0105]

[0106] where ω g = [ω x ,ω y ,ω z T is the normalized measurement data, the symbol ||·|| represents the two-norm of the vector, and v g = [v x ,v y ,v z T is the measurement data of the three-axis gyroscope on the BTT missile;

[0107] The method for calculating the attitude data is as follows:

[0108]

[0109] where ω = ω g = [ω x ,ω y ,ω z T is the angular velocity of the BTT missile, that is, the normalized measurement data, γ = [γ x ,γ y ,γ z T is the attitude angle of the BTT missile, T0 is the initial time; T is the current time.

[0110] To further implement the above technical solution, the specific content of step S2 includes:

[0111] S21. Establish the dynamic model of the missile's roll channel: Construct the state equation of the BTT missile system and use algebraic graph theory to describe the communication topology structure of multiple BTT missile systems;

[0112] S22. Design a virtual controller based on the barrier Lyapunov function and multi-agent theory;

[0113] S23. Design a cooperative control protocol based on the designed virtual controller using non-smooth theory;

[0114] S24. Analyze the rationality of the cooperative control system to verify whether each BTT missile reaches a consistent reference command signal within a finite time, and all signals in the closed-loop system are bounded and the roll angle satisfies the constraint conditions.

[0115] To further implement the above technical solution, the specific modeling method of step S21 is as follows:

[0116] Let the missile swarm system be composed of N BTT missiles, denoted as Γ = {1,..., N};

[0117] Model the roll channel dynamics of the i-th missile as:​​​​

[0118]

[0119] where: γ i , ω i , δ i are respectively the roll angle, roll angular velocity, and rudder deflection angle to be designed of the missile, c 1i (t) and c 2i (t) are time-varying parameters related to the missile speed, characteristic length, dynamic pressure, and environmental factors, c 1i , c 2i , are all known constants;

[0120] The communication connections among all BTT missiles form an undirected connected graph, and the number of missiles that can receive reference command signals is greater than or equal to 1, that is The initial roll angles of all missiles satisfy:

[0121] |γ i (t0)| < M1;

[0122]

[0123] where, M1 and M2 are positive constants;

[0124] The method for designing the virtual controller in step S22 is:

[0125] Design an attitude coordination control law so that under the action of the control law, the roll angles of all missiles can reach the constant reference command signal γ d , and satisfy the constraint conditions, that is |γ i (t)| < M1 and |γ i (t) - γ j (t)| < M2;

[0126] Specifically:

[0127] Let Define the Lyapunov function V1:

[0128]

[0129] where, k b1 ≥ M1|γ d |, k ba ≥ M2;

[0130] Take the derivative of V1 to get:

[0131]

[0132] Among them, is the virtual angular velocity, that is, the virtual controller;

[0133] Then:

[0134]

[0135] Among them, Take

[0136] It can be obtained that:

[0137]

[0138] The specific method for designing the cooperative control protocol in step S23 is:

[0139] Define the Lyapunov function V = V1 + V2:

[0140]

[0141] Among them, sig φ (x) = sign(x)|x| φ , sign(·) represents the sign function;

[0142] Taking the derivative of V2 gives:

[0143]

[0144] In addition,

[0145]

[0146] Then,

[0147]

[0148] For The following inequality holds:

[0149] Then there is,

[0150] Among them,

[0151]

[0152] The derivative of V2 is:

[0153]

[0154] Then, the designed control protocol is:

[0155]

[0156] where \(g1 = \eta\) i1 + \(N\eta\) i2 + 2 1-2θ (2\(\theta\) - 1) / \(\theta\) + (3 - 2\(\theta\))\(\theta\) \(k1\) θ / 2θ-1 \(\kappa1 / 2\) (2-2θ)θ , \(\eta\) i3 + \(N\eta\) i4 + \(\kappa1\), where \(\kappa1\) is a positive parameter that can be designed.

[0157] To further implement the above technical solution, the specific content of the rationality analysis of the collaborative control system is as follows:

[0158] Substituting the control protocol gives:

[0159]

[0160] The derivative of \(V\) is:

[0161]

[0162] where

[0163]

[0164] When , there is It can be obtained that:

[0165]

[0166] When \(\lambda\) min > 0, then:

[0167]

[0168] Also,

[0169] Then:

[0170] According to the non-smooth stability theory, there exists a moment \(T\leq V\) 1-θ (0) / (\(\kappa1(1 - \theta)\)) such that when , \(V(t)=0\), that is, \(V1 = V2 = 0\), then, \(\gamma\) i =\(\gamma\) j =\(\gamma\) d , That is, the consistency can be achieved within a finite time and the state of consistency is \(\gamma\) d ;

[0171] Based on It can be obtained that From \(k\)b1 ≥ M1 - γ d ,k ba ≥ M2 indicates that |γ i | < M1 and |γ i -γ j | < M2, then all signals in the closed-loop system are bounded and the roll angle satisfies the constraint conditions.

[0172] To further implement the above technical solution, the method for outputting the BTT missile rudder deflection control signal in step S3 is as follows:

[0173]

[0174] where ω x is the normalized measurement data ω g = [ω x ,ω y ,ω z T component in, γ x is the attitude data γ = [γ x ,γ y ,γ z T component of, γ j is the attitude data of the neighboring missile obtained through the communication network, δ is the output BTT missile rudder deflection control signal, γ d is the constant reference instruction signal, k1, k b1 ,k ba ,θ are the cooperative control protocol setting parameters, a ij ,b i is the undirected connected graph of the system communication topology.

[0175] To further implement the above technical solution, the multi-BTT missile fast cooperative system obtained in step S4 is specifically:

[0176]

[0177] where c1(t) and c2(t) are time-varying parameters, and δ is the BTT missile rudder deflection control signal.

[0178] In another embodiment, MATLAB2021b is used as the simulation calculation software to simulate the roll attitude motion of 4 BTT missiles, and the multi-BTT missile fast cooperative control method based on non-smooth theory of the present invention is adopted to output the attitude values during the roll attitude motion.

[0179] In this example, the present embodiment uses a time-varying function to simulate the time-varying coefficients in the kinematic equation of the multi-BTT missile roll attitude, and its time-varying function is:

[0180] ​​

[0181] Among them, c ki (t i ) is the parameter value of the function at each characteristic point;

[0182] The maximum change range of the system time-varying coefficient is:

[0183] c 1i (t) ∈ [0.491, 1.673],

[0184] c 2i (t) ∈ [584.220, 3045.292];

[0185] The parameter values of the characteristic points adopted in the simulation are shown in the following table:

[0186] Feature point <![CDATA[c 1i (t)]]> <![CDATA[c 2i (t)]]> <![CDATA[t1(4.4s)]]> 1.264 1787.048 <![CDATA[t2(11.7s)]]> 1.600 1832.067 <![CDATA[t3(19.5s)]]> 1.636 2128.877 <![CDATA[t4(23s)]]> 1.635 2231.985 <![CDATA[t5(28s)]]> 1.607 3045.292 <![CDATA[t6(35s)]]> 0.936 1329.481 <![CDATA[t7(40s)]]> 0.644 818.706

[0187] The communication topology structure diagram of the roll channels of 4 BTT missiles adopted in the simulation is an undirected connected graph. Among them, a 12 = a 13 = a 34 = 1, b1 = 1. In the simulation, it is assumed that the initial state is: γ(0) = (-4, -2, 2, 4) T deg, ω(0) = (-1, 0, 1, -2) T deg / s, the reference command signal is γ d = 0°, the parameter settings of the cooperative control protocol are κ1 = 0.015, k b1 = 10, k ba = 10, θ = 0.8, and the simulation duration is 40 seconds;

[0188] The simulation results are as Figure 3 the response curves of the roll angle, roll angular velocity and roll angle control input. It can be seen that the fast cooperative control method and system for multi-BTT missiles based on non-smooth theory of the present invention can achieve good control effects.

[0189] A fast cooperative control system for multi-BTT missiles based on non-smooth theory designs a fast cooperative control system for multi-BTT missiles based on a fast cooperative control method for multi-BTT missiles based on non-smooth theory.

[0190] A computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, it implements a fast cooperative control method for multi-BTT missiles based on non-smooth theory.

[0191] A processing terminal includes a memory and a processor. A computer program that can run on the processor is stored in the memory. When the processor executes the computer program, a fast cooperative control method for a multi-BTT missile based on non-smooth theory is implemented.

[0192] In this specification, the various embodiments are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made 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, reference can be made to the description in the method section.

[0193] 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 the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for rapid coordinated control of multiple BTT missiles based on non-smooth theory, characterized in that: The following steps are involved: S1. Obtain the measurement data of the gyroscope on the BTT missile and perform normalization processing, and calculate the attitude data through the normalized measurement data; S2. Design a fast cooperative control protocol for multiple BTT missiles based on non-smooth theory and analyze its rationality; S3. Input the normalized measurement data and calculated attitude data of step S1 into the multi-BTT missile rapid collaborative control protocol designed in step S2, and output the BTT missile rudder deflection angle control signal; S4. Input the BTT missile rudder angle control signal obtained in step S3 into the BTT missile system to obtain a multi-BTT missile rapid coordination system, and perform rapid coordinated control on the multiple BTT missiles; The specific contents of step S2 include: S21. Establish the missile rolling channel dynamics model: construct the BTT missile system state equation, and use algebraic graph theory to describe the communication topology of multiple BTT missile systems; S22. Design of virtual controller based on obstacle Lyapunov function and multi-agent theory; S23. Design cooperative control protocol based on non-smooth theory using designed virtual controller; S24. Analyze the rationality of the coordinated control system to verify whether each BTT missile reaches a consistent reference command signal within a limited time, and whether all signals in the closed-loop system are bounded and the roll angle meets the constraints; The design control protocol is: in, k1=2 1-2θ / θ+η i3 +Nη i4 +κ1, κ1 is a designable positive parameter; The method of outputting the BTT missile rudder deflection angle control signal in step S3 is: Among them, ω x is the normalized measurement data ω g =[ω x ,ω y ,ω z ] T The component in γ i is the missile's roll angle, γ j is the attitude data of the neighboring missile obtained through the communication network, δ is the output BTT missile rudder deflection control signal, γ d is the constant reference command signal, k1, k b1 , k ba , θ is the setting parameter of the cooperative control protocol, a ij 、b i It is an undirected connected graph of the system communication topology.

2. According to a non-smooth theory-based multi-BTT missile rapid collaborative control method according to claim 1, it is characterized in that: In step S1, the method for normalizing the measured data is: Among them, ω g =[ω x ,ω y ,ω z ] T is the normalized measurement data, the symbol ||·|| represents the vector binorm, v g =[v x , v y , v z ] T The measurement data of the three-axis gyroscope on the BTT missile; The method for calculating the posture data is: Where ω=ω g =[ω x ,ω y ,ω z ] T is the angular velocity of the BTT missile, that is, the normalized measurement data, γ=[γ x , γ y , γ z ] T is the attitude angle of the BTT missile, T0 is the initial moment; T is the current moment.

3. According to a method for rapid coordinated control of multiple BTT missiles based on non-smooth theory according to claim 1, it is characterized in that: The modeling method of step S21 is specifically as follows: Assume that a swarm system is composed of N BTT missiles, denoted as Γ = {1, ..., N}; The rolling channel dynamics of the ith missile is modeled as: Where: γ i ,ω i , δ i are respectively the missile's roll angle, roll angular velocity, and the rudder angle to be designed, c 1i (t) and c 2i (t) is a time-varying parameter related to missile velocity, characteristic length, dynamic pressure and environmental factors, c 1i , c 2i , are all known constants; The communication connections between all BTT missiles form an undirected connected graph, and the number of missiles that can receive the reference command signal is greater than or equal to 1, that is, The initial roll angle of all missiles satisfies: |c i (t0)|<M1; Among them, M1 and M2 are positive constants; The method for designing a virtual controller in step S22 is: Design the attitude coordination control law so that under the control law, the roll angle of all missiles can reach the constant reference command signal γ in a limited time. d , and satisfy the constraints, namely |γ i (t)|<M1 and |γ i (t)-γ j (t)|<M2; Specific: make Define the Lyapunov function V1: Among them, k b1 ≥M1-|γ d |, k ba ≥M2; Taking the derivative of V1, we get: in, is the virtual angular velocity, i.e., the virtual controller; but: in, Pick We can get: The specific method of designing the collaborative control protocol in step S23 is: Define the Lyapunov function V = V1 + V2: Among them, sig φ (x)=sign(x)|x| φ , sign(·) represents the sign function; Taking the derivative of V2, we get: Other, but, for The following inequality holds: Then there is, in, The derivatives of V2 are: Then, the design control protocol is: in, κ1 is a designable positive parameter.

4. According to a non-smooth theory-based multi-BTT missile rapid collaborative control method according to claim 3, it is characterized in that: The specific contents of the rationality analysis of the collaborative control system are as follows: Substituting the control protocol into: The derivative of V is: in, when Sometimes, there are We can get: When min >0, then: Other, but: According to the non-smooth stability theory, there exists a time T≤V 1-θ (0) / (κ1(1-θ)) makes When V(t)=0, that is, V1=V2=0, then, γ i =γ j =γ d , That is, the consistency can be completed in a finite time and the state of consistency is γ d ; Based on It can be obtained that From k b1 ≥M1 - γ d , k ba ≥M2, it can be known that |γ i | < M1 and |γ i - γ j | < M2, then all signals in the closed-loop system are bounded and the roll angle satisfies the constraint conditions.

5. According to a method for rapid coordinated control of multiple BTT missiles based on non-smooth theory according to claim 1, it is characterized in that: The multiple BTT missile rapid coordination system obtained in step S4 is specifically: Among them, c1(t) and c2(t) are time-varying parameters, and δ is the rudder deflection angle control signal of the BTT missile.

6. A multi-BTT missile rapid cooperative control system based on non-smooth theory, characterized in that: A multiple BTT missile rapid collaborative control system based on non-smooth theory is designed using a multiple BTT missile rapid collaborative control method based on non-smooth theory as described in any one of claims 1-5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements a method for rapid collaborative control of multiple BTT missiles based on non-smooth theory as described in any one of claims 1-5.

8. A processing terminal, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, it implements a method for rapid collaborative control of multiple BTT missiles based on non-smooth theory as described in any one of claims 1-5.

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