Design of Distributed Missile Formation Saturation Controller with Obstacle Avoidance Constraints
In this paper,the problems of missile formation control in the process of external disturbances,input saturation and unknown obstacles in route planning are researched.Firstly,based on the missile non-linear dynamic model,the absolute error control model of the missile formation is established by defining the position and speed error auxiliary variable under involving external disturibances.Secondly,on the basis of the nonlinear sliding mode surface based on obstacle avoidance potential function and hyperbolic tangent function,the controller for adaptive anti-saturation and robust missile formation obstacle avoidance is de-signed by applying adaptive technology and anti-saturation auxiliary system.Finally,Lyapunov stability theory is used to prove that the performance of the designed system is asymptotically stable,and the effective-ness of the designed control strategy is verified by digital simulation.
Missile formationObstacle avoidance controlInput saturationSliding mode control
NETL
NSTL
万方数据
