反舰弹道导弹一体化协同制导与控制

为提高我国火箭军对海上慢速移动目标的精确打击能力和反舰弹道导弹的突防能力，本文针对“领弹-从弹”构型的多反舰弹道导弹一体化协同制导与控制(ICGC)问题，首先通过对数学模型的变换，将一体化协同制导与控制问题提炼为一类高阶带扰动非线性多智能体系统的协同一致性算法的设计问题。其次，针对“领弹-从弹”构型的多反舰弹道导弹系统，在动态面控制(DSC)的框架下，基于一致性理论和结合扩张状态观测器(ESO)理论，设计分布式一体化协同制导与控制律。之后，对闭环系统的稳定性和收敛特性进行了严格的理论证明与分析，并取得收敛条件。一体化协同制导与控制律保证从弹在位置和速度上协同一致地趋近于期望空间构型，并使得从弹有和领弹近乎相同的攻击角度。最后，通过数字仿真对一体化协同制导控制律进行仿真校验。

Integrated Cooperative Guidance and Control of Anti Ship Ballistic Missiles

To improve the ability of the PLA rocket force to strike precisely the slow moving targets at sea and the penetration ability of the anti-ship ballistic missiles, the integrated cooperative guidance and control (ICGC) problem of the anti-ship ballistic missiles structured by “leader-follower” is discussed. First of all, the ICGC problem is refined as a coordinate consistency algorithm design problem for a class of high order nonlinear multi-agent system with disturbance by transforming the mathematical model. After that, based on the consistency theory and extended state observer (ESO) theory, the distributed consistency ICGC law is designed for the “leader-follower” multi-anti-ship ballistic missile system in the structure of the dynamic surface control (DSC). Then, the stability and convergence property of the closed-loop system is proven and analyzed strictly; and the convergence condition is got. The ICGC law can guarantee the slave missiles coordinate consistently in position and velocity and approach to the desired spacial structure. This makes the attack angles of the slave missiles are nearly the same as the leader missile. Finally, a series of simulations and comparisons are demonstrated to illustrate the effectiveness and advantages of the proposed ICGC law.