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1.
Target allocation is a crucial point in the cooperative interception process. In this paper, a new algorithm of dynamic situation assessment, target allocation and cooperative interception in groups is proposed for multi-target interception with multiple missiles. An effective situation assessment function is proposed, according to which the targets of each intercepting missile are assigned to maximize their efficiency. The new situation assessment function evaluates the flight status and cooperation of missiles, which considers not only the relative position and velocity mentioned in traditional functions, but also relative normal velocity, normal acceleration, maneuverability and cooperation between multiple missiles. During the interception process, the flight status could be evaluated dynamically, thus the allocation of the missiles could be real-time adjusted. To optimize target allocation, a method based on genetic algorithm is applied, which uses the dynamic situation assessment function based proportional navigation guidance law, and we also use proportional navigation guidance law to realize the interception to maneuvering targets with multiple missiles. Simulations for target allocation and target interception validate the effectiveness of the algorithm. Potential adjustments and improvements are proposed according to the simulation results.  相似文献   

2.
To realize the terminal acceleration constraint for a bias proportional navigation guidance law without usage of switching logics, this paper proposes a modified bias term and presents a terminal acceleration constrained bias proportional navigation guidance law against maneuvering targets. First, a so-called virtual planar coordinates whose origin is attached to the point mass of the target is built, so that the original maneuvering target is transformed to a virtual stationary target. On this basis, the common structure of bias proportional navigation guidance law is presented. To realize the terminal acceleration constraint, a modified bias term related to the relative distance between target and missile is used to improve the bias proportional navigation guidance law. With the virtual look angle and the line-of-sight angle constrained, the proposed modified bias proportional navigation guidance law can intercept the maneuvering targets in a desired attack angle. Comparisons with the optimal guidance law in the linear system are carried out, and the proposed law is proved to be near-optimal. The numerical simulation results demonstrate the all-aspect interception capability of the proposed law against maneuvering targets.  相似文献   

3.
The problem of a grouped multiple missiles cooperative attack on multiple high maneuvering targets with a limited driving force is achieved by an anti-saturation fixed-time grouped cooperative guidance (FxTCG) law based on a sliding mode fixed-time disturbance observer (SM-FxTDO) in this study. First, the state estimation of each high maneuvering target within a fixed time is achieved by designing a sliding mode fixed-time disturbance observer. Second, the group cooperative guidance law is designed by using fixed-time theory, which can ensure the group consensus of multiple missiles strike times within a fixed time under the condition of input saturation. Then, the fixed time stability of the multi-missiles system is proven by using the bi-limit homogeneous theory and the Lyapunov function. Finally, the simulation results show the superiority of the designed observer and cooperative guidance law. The proposed observer can more effectively and accurately estimate the state of the high maneuvering target than the ESO. The proposed cooperative guidance law expands the number of attack targets and makes each group of multiple missiles attack the corresponding high maneuvering target under the conditions of an input saturation within a fixed time compared to the single-target cooperative law.  相似文献   

4.
In order to improve the flexibility and reduce the energy consumption of cooperative guidance laws considering the impact angle constraint, this paper proposes a three-dimensional event-triggered fixed-time cooperative guidance law with the constraint of relative impact angles. First, for the purpose of avoiding the precision degradation due to the estimation error of time-to-go especially facing a maneuvering target, the range-to-go and velocity along the line-of-sight (LOS) are taken as the coordination variables for achieving time-cooperative guidance. Secondly, instead of assigning specific desired impact angles for each missile, only the consensus errors of relative impact angles are utilized as the coordination variables for achieving space-cooperative guidance, which can avoid continually maneuvering for maintaining the constant desired impact angles, thus reducing the fuel consumption. Next, the guidance laws along the LOS and perpendicular to the LOS are developed, and the event-triggering mechanisms are designed to reduce the update frequency of cooperative guidance commands, thus further reducing the energy consumption. To guarantee the convergence rate, the fixed-time control theory is adopted and the stability of proposed event-triggered cooperative guidance laws are rigorously proved. In addition, it is also proved that there is no Zeno behavior when implementing the proposed event-triggered cooperative guidance laws. Finally, numerical simulations indicate that the strictly simultaneous attack is achieved and the constraint of relative impact angles is satisfied. Comparative studies demonstrate that the computation burden of cooperative guidance commands is relaxed and the fuel consumption is reduced by the proposed event-triggered cooperative guidance laws with the constraint of relative impact angles.  相似文献   

5.
A new aircraft guidance law utilizing predictive control algorithm is proposed. Compared with extended proportional navigation guidance law, this guidance law is designed specifically for using against a maneuverable target. It can track the target maneuver effectively. Uncertainty in the predicted target's future maneuvering is handled by constructing a stochastic predictive cost function and utilizing the stochastic minimum principle to deduce a predictive control algorithm. The guidance law is established by adopting the continuous approximation method into the continuous predictive control algorithm. The simulation results demonstrate that the stochastic predictive guidance law has the ability of trajectory prediction. Compared with the PID proportional navigation guidance law, the stochastic predictive guidance law has smaller overload and can intercept the maneuvering target more effectively.  相似文献   

6.
In this paper, a guidance scheme for impact angle control against maneuvering targets with unknown target acceleration is proposed. In this scheme, the unknown target acceleration is estimated via a linear extended state observer; a novel time-varying global slide mode control technique is presented to eliminate the reaching phase and enforce a desired impact angle exactly at the time of interception with finite-time convergence, good robustness, high precision and smooth guidance command. Moreover, feasible guidance logics are developed to achieve all-aspect interception with the tolerance of large initial heading errors. Numerical simulations in various scenarios are performed to verify the performance of the proposed guidance scheme.  相似文献   

7.
An exo-atmospheric interception scenario between an accelerating missile and its target is investigated. It is assumed that the maneuvering acceleration is obtained by instantaneous rotation of the missile's body to the required attitude. Two different guidance laws are derived for such an interceptor using the sliding mode control methodology. The difference is in the definition of the sliding surface enforcing different trajectories for the interceptor. It is shown that if this surface is chosen as the zero-effort-miss of the well-known proportional navigation guidance law, then the missile is commanded to point its acceleration vector along the line-of-sight and consequently fly along a curved trajectory. For the second guidance law, a unique sliding surface is chosen enforcing the missile to fly on a straight line towards collision, after the initial heading error is nulled. The performance of the guidance laws is analyzed and compared using a nonlinear two dimensional simulation. It is shown that on top of enforcing a different flight geometry for the interceptor, the use of the new guidance to collision sliding mode guidance law can enhance the capture zone of the interceptor.  相似文献   

8.
In this paper, for three-dimensional interception of multiple missiles on a maneuvering target, a prescribed-time salvo attack guidance scheme with impact angle constraints and impact time constraint is investigated. The target accelerations are estimated accurately by a prescribed-time extended state observer. With the proposed guidance scheme, it ensures the LOS angles converge to desired values within a predetermined convergence time, and achieves salvo attack at a predetermined impact time. Prescribed-time convergency is shown for the proposed observer and controllers. Finally, the validity of the proposed guidance scheme is verified through numerical simulation.  相似文献   

9.
A modified cooperative proportional navigation guidance law   总被引：1，自引：0，他引：1  
In Jeon et al. (2010), a cooperative PNG (Proportional Navigation Guidance) law was proposed to achieve the salvo attack using multiple missiles. When the leading angle is near zero, singularity would occur, and the cooperation may fail. In this paper, a modified cooperative guidance law is presented to avoid such singularity existing in the guidance law in Jeon et al. (2010). The time-to-go control efficiency under small leading angle is also improved in this paper. The convergence of times-to-go to the same value using the proposed guidance law is guaranteed by the Lyapunov stability analysis. Simulation results show the effectiveness of the modified guidance law and the improved performance.  相似文献   

10.
This paper considers the simultaneous attack of a stationary target by multiple missiles. A novel fixed-time distributed guidance law based on the proportional navigation (PN) guidance law is designed by integrating a consistent control technique into the guidance strategy. This guarantees that the time-to-go of the missile becomes consistent. The guidance law adopts a discrete design, and a compensation item driven by normal acceleration is added to tangential acceleration. This eliminates the potential singularity problem when the heading angle is zero before the consistency is obtained, and thus the multiple missile system still converges in fixed time. In addition, the proposed guidance law can be applied to both undirected and directed graphs. Furthermore, two improved guidance laws are proposed to improve the robustness of the system against adverse effects caused by input delays and topology switching failures and to provide a theoretical proof. Finally, a simulation is used to verify the performance of the distributed guidance law and its robustness against the above failures.  相似文献   

11.
Fault tolerance of cooperative interception using multiple flight vehicles   总被引：1，自引：0，他引：1  
Cooperative interception of a moving target by multiple vehicles is studied. The main contributions of research work presented in this paper include: (1) cooperative interception is achieved for multiple vehicles to reach the target simultaneously at a finite time, by proposing and solving for a novel finite-time consensus problem and (2) in addition, the cooperative interception is investigated with tolerance of actuator or network failures, where novel fault tolerant consensus protocols are proposed to address actuator failures (or loss of effectiveness) and network failures, respectively. The maximum fault tolerance against network failures can be estimated. Simulations of a three-against-one interception case are presented to demonstrate the effectiveness of the proposed design approaches.  相似文献   

12.
The problem of cooperative guidance is considered with appointed impact time and collision avoidance for the leader-following flight vehicles, which consist of one leader with the target seeker and the other seeker-less followers. A fixed-time convergent guidance law is presented for the leader to achieve appointed impact time. To guarantee the simultaneous arrival of all the flight vehicles, a cooperative guidance law is proposed to make the follower-leader ranges keep proportional consensus with the range-to-go of leader. A distributed observer is put forward for the followers to estimate the range-to-go of leader. Moreover, the collision avoidance can be reliably fulfilled by the collaborative action of the direction-based and distance-based means.  相似文献   

13.
周小丁  罗骏  黄群 《科研管理》2014,35(5):145-151
德国协同创新的成功经验值得研究和借鉴。本文分析了体制、法律、政策与制度是实现高校与国立研究机构间协同创新的保障,归纳出德国校研协同创新的五种共性模式及三种个性模式。总结出校研公共研究机构之间协同创新的实现需要政府层面的导向与推动;校研机构间异质互补性机制是推动两大机构产生协同的内在动力;经费导向机制是校研协同创新良性循环发展的纽带;德国校研协同创新模式呈现出多层次与全方位的特征。最后,对我国校研两大体系的协同创新提出三点启示。  相似文献   

14.
This paper addresses a finite-time rendezvous problem for a group of unmanned aerial vehicles (UAVs), in the absence of a leader or a reference trajectory. When the UAVs do not cooperate, they are assumed to use Nash equilibrium strategies (NES). However, when the UAVs can communicate among themselves, they can implement cooperative game theoretic strategies for mutual benefit. In a convex linear quadratic differential game (LQDG), a Pareto-optimal solution (POS) is obtained when the UAVs jointly minimize a team cost functional, which is constructed through a convex combination of individual cost functionals. This paper proposes an algorithm to determine the convex combination of weights corresponding to the Pareto-optimal Nash Bargaining Solution (NBS), which offers each UAV a lower cost than that incurred from the NES. Conditions on the cost functions that make the proposed algorithm converge to the NBS are presented. A UAV, programmed to choose its strategies at a given time based upon cost-to-go estimates for the rest of the game duration, may switch to NES finding it to be more beneficial than continuing with a cooperative strategy it previously agreed upon with the other UAVs. For such scenarios, a renegotiation method, that makes use of the proposed algorithm to obtain the NBS corresponding to the state of the game at an intermediate time, is proposed. This renegotiation method helps to establish cooperation between UAVs and prevents non-cooperative behaviour. In this context, the conditions of time consistency of a cooperative solution have been derived in connection to LQDG. The efficacy of the guidance law derived from the proposed algorithm is illustrated through simulations.  相似文献   

15.
This paper presents an integrated distributed cooperative guidance and control scheme for multiple missiles to attack a single target simultaneously at desired impact angles. The scheme is divided into two parts: individual part and cooperative part. For the individual part, partial integrated guidance and control method is adopted to generate the elevator deflection (which is a realistic control input) to ensure that the missiles fly along their respective desired line of sight and hit the target; this is in contrast to previous works which analyze only the engagement dynamics and use missile accelerations as the control input, however, the proposed controller also considers the missile dynamics, thus enabling the implementation of an autopilot. For the cooperative part, using only information from adjacent missiles, the proposed distributed cooperative controller can make all missiles hit the target simultaneously. Hence in this scheme, each missile can hit the target at desired angles and at the same time, thus achieving salvo attack. Simulations are performed to verify the effectiveness of the scheme.  相似文献   

16.
《Journal of The Franklin Institute》2022,359(18):10392-10419
This paper proposes a high-precision three-dimensional nonlinear optimal computational guidance law in the terminal phase of an interceptor that ensures near-zero miss-distance as well as the desired impact angle. Additionally, it achieves these ambitious objectives while ensuring that the lead angle and lateral acceleration constraints are not violated throughout its trajectory. This ensures (i) the target does not escape the field of view of its seeker at any point in time (a state constraint) and (ii) it does not demand unreasonable lateral acceleration that cannot be generated (a control constraint). The guidance problem is formulated and solved using newly proposed Path-constrained Model Predictive Static Programming (PC-MPSP) framework. All constraints, both equality and inequality, are equivalently represented as linear constraints in terms of the errors in the control history, thereby reducing the complexity and dimensionality of the problem significantly. Coupled with a quadratic cost function in control, the problem is then reduced to a standard quadratic optimization problem with linear constraints, which is then solved using the computationally efficient interior-point method. Results clearly demonstrate the advantage of the proposed guidance scheme over the conventional Biased PN as well as the recently proposed GENeralized EXplicit (GENEX) guidance techniques. Numerical simulations with variation in initial conditions and Monte–Carlo simulations with parametric uncertainty demonstrate the robustness of the proposed guidance scheme.  相似文献   

17.
［目的/意义］合作网络研究是近年来学者关注的一个热点问题,然而传统的网络分析方法只适合刻画两两合作者之间的合作关系,深入分析现实世界中的多人合作关系及其网络发展、演化机制,具有重要的现实意义。［方法/过程］引入超网络理论,构建节点具有钝化和激活状态的演化模型,探讨随机和择优两种驱动机制对合作网络演化过程的影响。仿真发现,择优机制驱动下点超度分布呈幂律分布;随机机制驱动下点超度分布呈指数分布。［结果/结论］选取现实合作网络的数据进行实证分析,实证结果与仿真结果相吻合。说明理论模型对于刻画现实合作网络具有一定的参考价值。  相似文献   

18.
In order to construct the guidance strategy in a realistic nonlinear noise-corrupted interception endgame against a maneuverable target, a linearized zero-sum differential game is considered. Assuming perfect information in this game, sufficient conditions are established, which guarantee that a continuous interception strategy with memory (history-dependent) has the maximal capture zone. Two examples of such a strategy are analyzed: a modified super-twisting second-order sliding mode control and a modified integral sliding mode control. Simulation results of the original nonlinear interception endgame demonstrate that these strategies considerably reduce the chattering created by the classical game optimal bang-bang strategy without deteriorating the homing performance.  相似文献   

19.
通过社会网络分析方法,选取城市群中粤港澳大湾区城市群中20所高校作为考察对象,以中国知网数据库为检索平台,分析各高校间科研合作创新水平,了解其科研合作创新的基本情况。研究发现,粤港澳大湾区20所高校间科研合作频次较低,港澳高校普遍存在合作动力不足的现状,且港澳高校参与度更低,广东省内高校之间的合作占据主导地位;其合作频次依赖于相关政策和学科优势;合作模式主要通过研究项目与学术交流,科研合作创新模式呈现出强强联手、跨地合作的新模式。此外,为推动粤港澳大湾区城市群高校间科研合作创新和改善其合作空间结构,文章研究提出突破地域壁垒限制、开展多层次合作、统筹跨区域学科合作以及依托研究项目增进粤港澳大湾区合作创新趋向集群化发展等建议。  相似文献   

20.
曹霞  李传云  林超然 《科研管理》2019,40(8):179-188
以新能源汽车为研究对象,通过挖掘相关专利合作数据,绘制新能源汽车的专利合作网络,运用社会网络分析方法,基于时间和空间两个维度,剖析在1989-2015年间,新能源汽车专利合作网络的网络结构以及空间分布的演化规律。研究结果表明,新能源汽车的专利合作网络演化呈现明显的阶段特征,自2010年开始,网络规模呈现爆发式增长,网络朝着更为连通的方向演化发展;在不同的演化阶段,网络结构演化存在较大差异,核心组织地位日益突显,网络呈现多元化合作发展,不同类型组织间的专利合作日趋显著;区域内和区域间的专利合作方式呈现不同的空间演化规律,区域边界对于广西、黑龙江、甘肃以及海南等地的跨区域合作存在较大影响,北京、江苏以及浙江等地在跨区域合作中处于明显优势地位。  相似文献   

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