Cooperative Interception Strategy Of Multi-Missile Based On Similarity-Based Formation Control

In recent years,formation control has been widely used in satellite formation,unmanned aerial vehicle(UAV)and unmanned ground vehicle(UGV)due to its high reliability,scalability and flexibility.In the field of missile defense interception,multi-missile cooperative interception in formation has many outstanding advantages,such as wide detection range,large intercepting area and low elastic performance requirements,which can effectively improve the interception performance of the target.Considering the special requirements of cooperative interception,the dissertation mainly focuses on the midcourse guidance control of multi-missile formation and the interception of high maneuvering target based on the characteristics analysis of similarity-based formation.The main contents and contributions of the dissertation are as follows.The characteristics of similarity-based formation are analyzed,and the corresponding formation stabilization law is designed.1)Based on the concept of geometric similarity,two kinds of geometric variables and three kinds of constraints are proposed to define the similarity-based formation,which is capable to do different kinds of maneuvers such as rotation,translation,and scaling motion.2)The mathematical model of the similarity-based formation is built based on algebraic graph theory first.And then by analyzing the property of rotation,translation,and scaling motion,the sufficient conditions are derived to ensure that the configurations defined by the angle constraints,the edge constraints or the mixed constraints are similar to the expected configurations locally,and three kinds of extended application of the similarly-based formation are illustrated.3)For the formation of exchanging information by communication,a negative gradient control law is designed to make the formation converge to the desired configuration.The formation stabilization law for similarity-based formation,whose node senses the states of their adjacent nodes in measuring way,is designed.1)Considering the formation obtaining information in measuring way,the characteristics of directional graph and the possible problems in the definition and control of similarity-based formation are analyzed.2)Combining with the conclusion of similarity-based formation property analysis,the conditions of defining the formation similarity with angle constraints,edge constraints and mixed constraint are analyzed for the cascaded form of directed graph.3)Consider the formation corresponding to cascaded directed graph,the formation control law based on the local measurement information is designed to make formation converge to the desired configuration.The control law for the midcourse guidance of missile formation is designed.1)Considering the special requirements of interception mission,the multi-missile formation midcourse guidance is decomposed into four parts,and the two-layer formation control strategy of benchmark control and similarity control is proposed.2)For multi-missile formations with communication capability,the condition of realizing benchmark control and similarity control using different missiles are analyzed.The velocity control law of the benchmark missile is given for the formation translation,rotation and scaling motion,and the formation similarity control law is designed to be independent of the benchmark control.3)The multi-missile formation control based on local measurement information is analyzed.The available cascaded directed graph that can realize benchmark control and similarity control with different missiles are provided,and the corresponding control laws are designed.The cooperative guidance law against highly maneuvering target is designed.1)Considering the interception in two-dimensional plane,a new cooperative guidance mechanism based on coverage of target reachable area is proposed.Based on bang-bang and proportional guidance law separately,the multi-missile cooperative guidance strategies are designed for the formation without communication ability and with communication ability.2)Based on the proportional guidance law,the proposed cooperative guidance mechanism is extended to three-dimensional interception.A biased guidance law,which can adjust the reachable area of proportional guidance law as expected,is proposed,and a cooperative guidance algorithm is designed to coordinate the reachable areas of different missiles to maximize the coverage of the reachable area of the target.Considering the special requirement of formation control task in midcourse guidance phase,this dissertation has studied the similar formation characteristics,designed the formation control laws based on interaction information and local measurement information separately,and proposed the control strategies of formation,translation,rotation and contraction of multi-missile formation in midcourse guidance phase.Aiming at the problem that the interceptor in the terminal guidance phase cannot intercept the highly maneuvering target due to the insufficient maneuverability,a new cooperative guidance mechanism is designed based on covering the interceptor reachable area,and the control laws of each interceptor are designed based on the proportional guidance law.The conclusions and the control laws not only can provide a novel and effective solution to the cooperative interception problem,but also can be applied to other multi-agent systems.