摘要
针对导弹多对一追逃系统存在控制受限、目标可识别来袭进行躲避、集群计算量大和弹间易发生碰撞的问题,开展基于微分博弈的集散式避撞协同制导律研究。首先,将集群中的智能体分为领弹和从弹,针对领弹和目标,构建双方博弈对抗性能指标函数,结合自适应动态规划技术,对追逃双方最优控制策略进行在线求解,并利用Lyapunov法证明稳定性。然后,基于多智能体一致性理论和代数图论,以弹目相对距离为协调变量,结合滑模控制法,实现从弹间的分布式协同。最后,针对协调弹目相对距离时产生的碰撞问题,利用人工势场法,实现整个集群系统智能体间的避撞。仿真结果验证了当目标采取最优机动时,所提制导律的有效性。
To solve the problems of multi-to-one pursuit-evasion system of missiles,including limited control,target ability to actively identify incoming missiles and evade them,extensive cluster calculation,and potential collision between bombs,the distributed anti-collision cooperative guidance law based on differential game is studied.Firstly,agents in the cluster are divided into leaders and followers.A performance index function for the game confrontation between the two parties is constructed.The optimal control strategy of the chasing parties online by adaptive dynamics programming technology is solved.The stability is proved by Lyapunov method.Then,based on multi-agent consistency theory and algebraic graph theory,using the relative distance between the missile and the target as the coordinating variable,combined with the sliding mode control method,the distributed cooperation among followers is realized.Finally,to the problem of collision between agents when the relative distance is coordinated,the artificial potential field method is used to realize anticollision.Simulation results verify the effectiveness of the guidance law proposed when the target adopts the optimal maneuver.
作者
杨知沐
张绍杰
张朝原
王浩宇
赵卯卯
YANG Zhimu;ZHANG Shaojie;ZHANG Chaoyuan;WANG Haoyu;ZHAO Maomao(School of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211006,China)
出处
《系统工程与电子技术》
北大核心
2025年第8期2667-2675,共9页
Systems Engineering and Electronics
关键词
多对一追逃
微分博弈
分布式协同
滑模控制
人工势场法
multi-to-one pursuit-evasion
differential game
distributed cooperation
sliding mode control
artificial potential field
作者简介
杨知沐(1999-),女,硕士研究生,主要研究方向为飞行器制导与控制、多智能体集群控制;通讯作者:张绍杰(1978-),男,教授,博士,主要研究方向为非线性系统控制、故障诊断与容错控制、飞机系统安全性评估;张朝原(1999-),男,硕士研究生,主要研究方向为航空制导炸弹架构设计;王浩宇(2001-),男,硕士研究生,主要研究方向为飞行器制导与控制、微分博弈理论;赵卯卯(1999-),女,硕士研究生,主要研究方向为多飞行器集群制导。
