事件触发机制下多导弹固定时间编队控制

针对领-从弹编队结构中从弹对领弹的固定时间协同跟踪控制问题，同时为了节省通信带宽和弹载计算资源，基于多智能体一致性理论，给出了有向拓扑下基于事件触发机制的固定时间编队控制算法。用微分几何法将导弹运动模型精确线性化，为其设计固定时间编队控制协议，保证具有较大飞行速度的导弹编队在较短的时间内收敛到稳定的队形。在此基础上，引入事件触发机制，克服有向拓扑下Laplacian矩阵的不对称性和事件触发通信引入的误差项对系统稳定性带来的影响；为从弹设计了基于自身状态误差的事件触发函数，当状态误差满足所设定的阈值时，从弹在通信网络中更新并传递自身的采样信息，有效减少了弹载资源的占用率。利用代数图论、矩阵理论和Lyapunov稳定理论证明了编队控制系统的稳定性。数值仿真结果校验了算法的有效性和稳定性分析的正确性，适用于导弹编队的总体设计。

Fixed time Event triggered Formation Control for Multiple Missiles

Aiming at the fixed time leader follower formation control problem of multiple missiles, and in order to save the communication bandwidth and the missile borne computing resources, a fixed time event triggered formation control algorithm in directed topology is proposed based on the multi agent consistency theory. The nonlinear model of missile is accurately linearized by the differential geometry theory, and a fixed time formation control protocol is designed for it to ensure that the missile formation with a high flight speed converges to a stable formation in a short time. On this basis, an event triggering mechanism is introduced to overcome the influence of the asymmetry of the Laplacian matrix in directed topology and the error term introduced by the event triggered communication on the system stability. For each missile, the sampling information is updated and transmitted by properly defined events, which depend on its own measurement error. Algebraic graph theory, matrix theory and Lyapunov stability theory are used to prove the stability of formation systems. The numerical simulation results verify the validity of the algorithm and the correctness of the stability analysis, which are suitable for the overall design of the missile formation.