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针对多导弹协同攻击编队控制问题,采用仿射非线性系统最优控制理论设计了基于领弹-从弹法的多导弹编队控制器.首先采用基于微分几何理论的非线性系统精确线性化方法,将导弹非线性运动模型线性化;然后根据从弹、领弹间的相对运动关系,给出了包含领弹运动信息和队形信息的从弹期望轨迹,建立了基于从弹跟踪误差向量的系统状态方程;最后采用基于稳态解的黎卡提矩阵微分方程求解方法解决最优控制问题,设计了从弹的三维非线性编队控制器;仿真结果表明所设计的控制器能够在领弹机动地情况下快速、稳定地实现编队队形的形成和保持.
In order to solve the multi-missile coordinated attack formation control problem, a multi-missile formation control based on the missile-projectile method is designed by using the affine nonlinear system optimal control theory.Firstly, based on the differential geometry theory, According to the relative movement relationship between the projectile and the projectile, the expected trajectory of the projectile containing the projectile’s motion information and formative information is given, and the system based on the projectile’s error vector Finally, the Riccati matrix differential equation solution based on the steady-state solution is used to solve the optimal control problem. The three-dimensional non-linear formation controller is designed. The simulation results show that the designed controller can be used in the mobile Case quickly and stably to achieve the formation and maintenance of formation formation.