Distributed Cooperative Guidance Law Of Multiple Missiles Based On Multi-agent Consensus Algorithm

The modern anti-air defense system tends to be networked and multi-layered,which brings many challenges for the penetration of single missile,such that ideal operational effectiveness is hard to be obtained.Then,cooperative attack of multiple missiles gradually becomes a hot topic of guidance researches both at home and abroad.This attack mode requires all missiles to reach the target simultaneously,and can carry out mass saturation attack in the short run,which is more effective in penetration and has a higher damage probability.Distributed cooperative guidance law of multi-missile is the key to achieve the cooperative attack of multiple missiles,and it also determines the trajectories of missiles.To investigate the distributed cooperative guidance law,not only the performance of missiles,but also the communications between missiles need to be taken into consideration.In practical applications,both the communication ability and the scope of field-of-view associated with each missile have been restrained,which bring more new challenges for designing the cooperative guidance law.More specifically,the current communication devices cannot guarantee the continuous communication among the missiles,and the transmission of information is generally disturbed by network congestion and electromagnetic interference,which lead to the inevitable packet loss and transmission delay.Then,cooperative guidance laws based on ideal communicating situation may be invalid.In addition,a majority of missiles have a limited scope of field-of-view,which should be taken into account in some cooperative guidance scenarios,in these scenarios restrictions should be imposed on the attitude of the missile,otherwise the seeker of the missile may lose the target,resulting in unexpected results.Thus,these factors must be incorporated in the cooperative guidance law of multi-missile.This paper investigates the distributed cooperative guidance problem of multi-missile,and the restriction of communication network and missile capability are considered.Aiming to make all missiles hit the target simultaneously,cooperative control theory of multi-agent consensus is utilized and improved to develop the distributed cooperative guidance law of multi-missile.Moreover,to achieve the simultaneous attack of the non-maneuvering and maneuvering targets,we first investigate the bounded consensus tracking of multi-agent with the non-cooperative target,a novel rectangular impulsive control is proposed,based on which we design the cooperative guidance law aiming at both non-maneuvering and maneuvering targets.The main contributions of this thesis are outlined as follows:1.The cooperative guidance of multi-missile aiming at a stationary target is investigated,where the packet loss and the communication delay exist in communications among missiles.Consider that the communication topology is randomly switching due to the stochastic packet loss and the communication delay,which may result in an unsustainable connected or even interrupted communication topology,a distributed cooperative guidance strategy is proposed.Based on sampled data,a distributed linear consensus protocol is designed,and a deviation system is constructed,which can be stabilized such that all the coordination variables of missiles asymptotically achieve a common state.Multiple missiles disconnect to the communication network and are guided to a target independently when they approach the target and the consensus is reached.Theoretical analysis shows that the proposed cooperative guidance strategy is independent on the real-time connected communication topology,which means the communication topology may be disconnected or even be interrupted.2.The cooperative guidance of heterogenous multiple missiles aiming at a stationary target is investigated,wherein all missiles have different constraints of field-of-view.Considering heterogenous missiles usually have different constraints of field-of-view,a distributed cooperative guidance strategy is proposed.Communication among missiles is periodic,and only the information of range-to-go is exchanged among the neighboring missiles of the network to generate the consensus error.Based on the missile's field-of-view and the lead angle,a saturation function is adopted,and the distributed consensus protocol is developed by the consensus error,to guarantee that coordination variables can reach consensus.Multiple missiles disconnect to the communication network and are guided to a target independently when they approach the target and the consensus is reached.Based on feedback linearization,graph and matrix theories,sufficient conditions are established to guarantee multiple missiles can realize the salvo attack under the cooperative guidance law.The proposed cooperative guidance law can satisfy the constraint of heterogeneous field-of-views,which is robust to the packet loss.3.The cooperative guidance of multiple missiles aiming at a non-maneuvering target is investigated based on rectangular impulsive control strategy.First,we study the general rectangular impulsive control method to deal with the consensus tracking problem of second-order multiagent systems(MASs).Considering that the leader in the MASs is stimulated by an unknown time-varying but bounded external input,a novel distributed rectangular impulsive control strategy is developed,which only utilizes casual sampled position data of the neighboring agents.By virtue of graph and matrix theories,necessary and sufficient conditions are established,which guarantee the bounded consensus tracking under fixed topology and the mean-square bounded consensus under randomly switching topologies.The proposed algorithms show robustness to the packet loss and noise,and also incorporate the performance of the Dirac impulsive control and the sampled-data control.Then,a distributed cooperative guidance law is designed based on the proposed control protocol,to realize the simultaneous attack of a non-maneuvering target.The proposed cooperative guidance law can handle a variety of cooperative guidance problems,e.g.,the salvo attack of multi-missile without the support of communication network.4.The formation cooperative guidance problem of multi-missile aiming at a maneuvering target is addressed.To guarantee that all missiles can form a predefined formation and reach the maneuvering target simultaneously,a “leader-following” distributed cooperative guidance law is proposed.The leader missile intercepts the maneuvering target under the modified proportional navigation guidance law,and the cooperative guidance law of the follower missiles is based on the rectangular impulsive control strategy,using sampled position data only.The follower missiles can track the trajectory of the leader missile according to the predefined formation.Necessary and sufficient conditions are established,which guarantee multiple missiles to hit the maneuvering target simultaneously,and the cooperative guidance law of follower missiles are further designed.The proposed distributed cooperative guidance law can be designed conveniently since it only uses the sampled position data of the missile,and the formation can be determined more flexibly.