Cooperative integrated practical time-varying formation tracking and control for multiple missiles system

摘要

Cooperative integrated practical time-varying formation tracking and control issues of multiple missiles system with multiple leader missiles and mismatched uncertainties are considered. The follower missiles' states are designed to track the convex combination of the leader missiles' ones while actualizing a predefined time-varying formation. Firstly, this paper establishes the integrated formation tracking and control models of multiple missiles system, where the outer-loop kinematic model and inner-loop dynamic model are considered simultaneously. Then, the integrated practical time-varying formation tracking and control protocol is presented, where the mismatched uncertainties and leader missiles' control input signals are estimated and compensated by employing the distributed extended state observers. Thirdly, an algorithm is presented to give the procedures for designing the protocol, in which the feasible formation tracking constrains are raised, and a series of linear matrix inequalities are solved for obtaining the control parameters. Sufficient conditions for actualizing the designed formation tracking are derived. Finally, a numerical simulation example reveals the effectiveness of the acquired results. (C) 2019 Elsevier Masson SAS. All rights reserved.