一种基于通信时变延迟的分布式协同制导律构建方法

• Format: Patent
• Language: Chinese
• Published: 24.05.2022
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

本发明公开了一种基于通信时变延迟的分布式协同制导律构建方法，该方法将制导模型分为视线方向和视线法向方向两类模型分别构建其制导律。在视线方向上首先基于改进的多智能体一致性理论，选择到达时间作为状态变量，在导弹间通信存在时变延迟的情况下，通过一致性协议的作用确保多导弹的到达时间达到一致，最终实现多导弹同一时间攻击目标。在视线法向上基于滑模控制理论，选择视线角误差和视线角速率作为状态变量，通过构建滑模控制器使得视线角误差和视线角速率趋近于0，使得导弹按照预定的角度攻击目标。本方法无需考虑最大延时约束，根据延迟的大小可以动态改变一致性收敛协议中的参数，实现通信时变延迟下多导弹协同打击目标。 The invention discloses a distributed cooperative guidance law construction method based on communication time-varying delay. According to the method, guidance models are divided into a sight line direction model and a sight line normal direction model, and guidance laws of the models are constructed respectively. In the sight direction, firstly, based on the improved multi-agent consistency theory, arrival time is selected as a state variable, under the condition that time-varying delay exists in communication between missiles, it is ensured that the arrival time of the missiles is consistentthrough the effect of a consistency protocol, and finally the purpose that the missiles attack the target at the same time is ach