高超声速滑翔飞行器预定时间碰撞规避编队控制  

Collision avoidance and formation control of hypersonic glide vehicles within predefined time

作　　者：王婕 王鼎华 王婷[1,2,3] 户艳鹏 Jie WANG;Dinghua WANG;Ting WANG;Yanpeng HU(School of Intelligence Science and Technology,University of Science and Technology Beijing,Beijing 100083,China;Institute of Artificial Intelligence,University of Science and Technology Beijing,Beijing 100083,China;Key Laboratory of Intelligent Bionic Unmanned Systems,Ministry of Education,University of Science and Technology Beijing,Beijing 100083,China;School of Automation and Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,China)

机构地区：[1]北京科技大学智能科学与技术学院,北京100083 [2]北京科技大学人工智能研究院,北京100083 [3]北京科技大学智能仿生无人系统教育部重点实验室,北京100083 [4]北京科技大学自动化学院,北京100083

出　　处：《中国科学：信息科学》2024年第10期2326-2342,共17页Scientia Sinica(Informationis)

基　　金：国家自然科学基金(批准号:62473042,62473040);中国博士后科学基金面上项目(批准号:2019M650874);中国科学院自动化研究所复杂系统认知与决策实验室开放基金(批准号:E2T0X4D803)资助。

摘　　要：针对高超声速滑翔飞行器的编队控制问题,提出了基于预定时间稳定性理论的控制策略.首先,建立高超声速滑翔飞行器六自由度制导控制一体化模型,基于反演结构对模型进行简化处理,在此基础上,设计预定时间控制律,实现期望队形形成及编队保持;其次,利用人工势场理论,设计避碰/规避势场函数项,避免高超声速滑翔飞行器与其邻机之间的碰撞,并实现对威胁区的规避;再次,基于Lyapunov稳定理论对高声速滑翔飞行器在预定时间内的编队稳定性进行严格证明;最后,通过Matlab/Simulink进行仿真,仿真结果验证了本文所提的控制策略能够实现预定时间内高超声速滑翔飞行器的编队队形生成保持及碰撞规避.This paper proposes the control strategy based on the theory of predefined time stability for the formation of hypersonic gliding vehicles.First,we establish a six-degree-of-freedom integrated guidance and control model for the hypersonic glider vehicle,and simplify the model based on the inversion structure.Then,we design a predefined time control law to achieve formation control and maintenance.We also use artificial potential field theory to design a collision avoidance potential field function to prevent collision between the hypersonic glide vehicle and neighboring aircraft,and to avoid threat zones.Additionally,using Lyapunov stability theory,we strictly prove the stability of the formation states of the hypersonic glide vehicle within a predefined time.Finally,the simulation was conducted using Matlab/Simulink.The results demonstrate that the control method designed in this paper can achieve formation generation and maintenance,as well as implement collision avoidance and threat zone avoidance for hypersonic glide vehicles within the predefined time.

关 键 词：高超声速滑翔飞行器 预定时间控制 人工势场算法 编队控制 制导控制一体化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V249.1[自动化与计算机技术—控制科学与工程] V448[航空宇航科学与技术—飞行器设计]