Scientific

Journal of Control Engineering

June 2013, Volume 3 Issue 3, PP.155161

A Collision Free Control for Tight Formation of

Multi-Missiles
Yang Du, Sentang Wu
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
#

Email: do_young@126.com

Abstract
To meet the requirement of cooperative engagement capability for multi-missiles tight formation and focus on the

collision issues during the altitude penetration in the midcourse guidance, a collision free formation control approach was
proposed based on two biotic behavior principles where the local kinetic predictive model was introduced and the limitation of
missiles maneuver had been considered. The simulation results show that the proposed approach is feasible and effective.
Keywords: Tight Missiles Formation; Formation Control; Collision Avoidance; Model Predictive Control

100191

[1]

VW

L(L)

W(W)

VL

L
W

dWL
x , yd W
Z

1
*

A212006000
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-[2]

VL d VW W d
W
d
dx

VL cos( L W ) VW W y

dt
dt

dW
dy

VL sin( L W )
x

dt
dt

(1)

(2)

x, y W L d W x, y

d
dx

VL VW W y0

dt
dt

d
dy
VL ( L W ) W x0

dt
dt

(3)

[3]

(3) L W
y
y
dx
VL VW 0 W 0 Wc
dt
W
W

x0
x0
dy
VL 0 L ( VL 0
) W
Wc
dt
W
W

d L
1

( Lc L )

dt
L

1
dVL

(VLc VL )

dt VL

dW
1

( )

dt
W Wc W

dVW
1
(VWc VW )

dt
VW

0c

(4)

2.1

(1) Reynolds [4] 2(1)[5]

2(1b)
[6] 2(1b)
(2) Ballerini [7]
6 7
2 [5]
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(1) Reynolds

(2)

2.2
(4) PI -(
3(1))

i 6 7
i i (4)i
[8]
(Local Model Predictive Control, LMPC)
Xi = (x1, x2, , xj, , xn, y1, y2, , yj, , yn, i, Vi)T xjyj i j
j i i Vi i n
ui = (ci, Vci)T ci, Vci i di = (1, 2, ,
j, , n, V1, V2, , Vj, , Vn)T j, Vj j i
Yi = (x1, x2, , xj, , xn, y1, y2, , yj, , yn, i, Vi)Ti = L - iVi = VL - ViL
Yi i

(4) n
X i ( k 1) Ai X i ( k ) Bu i u i ( k ) B di d i ( k )

Yi ( k ) C i ( k ) Di d i ( k )

(5)

Ai O( 2 n 2 )2 n

xr 1

yr1
, 1
Vr1 ,0

i
1

A1

xrj

yrj

,1 , A2
Vrj ,0 , A3 i
A2
A1

i
A3 ( 2 n 2 )2 n 2
0

xrn

yrn
,
1
,
0

rn

n 2
i
n 2
i
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1

Vi 22

 y r1
xr1
,0
,0

i
i
1


Bu1

y rj
xrj

,
0
,
0

Bu1
Bu i Bu 2
, Bu 2
, Bu 3 i

i
i
B
0
u 3 ( 2 n 2 ) 2

y rn
xrn
,
0
,
0

i n 2
i n 2

Vr1

Onn I nn

Bd 1 Onn

Bd i
Bd 1
Vrj

O22 n ( 2 n 2 )2 n

1
Vi 22

Vrn nn
O

Di ( 2n 1,2 L ) 1

Di O( 2 n 2 )( 2 n 2 ) ,
Ci

Di ( 2n 2,2 n L ) 1
1
O

1 ( 2 n 2 )( 2 n 2 )

Ji
Pi

Ni

l 1

m 1

Ni

J i ( yi (l , m) (Yim (k l | k ) ref im (k l )) ui (l , m) uim (k l | k ) )

2

m 1

(6)

Pi Ni (k+l | k) k k + l ref
i yi j
ui
Quadratic programming, QP
(l , m) i yi = (i1, i2, , ij, , i2n)ui = (ic,
iVc)
yi Reynolds ij i j
dij ij = f (dij) kminds kmaxds ds
kminkmax f kminds i
1
1 LMPC

dij / ( kmin ds)

ij
i(j+n)
i(2n+1)
ij
i(2n+2)
iL, i(L+n)
ui

(- , 0.2)
800
750
0
0

[0.2 , 0.4) [0.4, 0.6) [0.6 , 0.8) [0.8 , 1)

500
340
320
100
550
360
340
100
0
1
5
10
0
0
0
1
iL = max(100 , ij), i(L+n) = max(100 , i(j+n))
(5,0)

[1 , )
0
0
0
0

i QP[9] LMPC ui

ui arg min J i
ui ( k ) ui ( k 1) ui
min u( 1 ) max
st .
Vmin u( 2 ) Vmax
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(7)

[minmax][VminVmax]

21

2 4 1 t = 5 s
20 36 0.53
Ma (180 m/s) 8.5s 20 LMPC

2
(m)

(m)

(m/s)

(m/s)

(m/s)

ds+

ds

150

200

100

LMPC 5

(1) t = 6.5 s

(2) t = 10.1 s

(3) t = 12 s

(4) t = 14 s
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(5) t = 16 s

(6) t = 18 s

(7) t = 20 s

(8) t = 22 s

(9) t = 30 s
5 LMPC

t=6.5s 20 5(1) t=10.1s 20

1419 20 5(2) 5(3)-(6)
6 20 LMPC
t=13.5s 20
5(5)-(8) t=30s

LMPC

(LMPC) LMPC
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REFERENCES
[1]

YUAN Liping. Decentralized Formation Flight Control of Multiple Fixed-Wing UAVs with a Virtual Leader[A]. Proceedings of
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[2]

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[3]

S. Wan, G. Campa, M. Napolitano and et al.. Design of formation control laws for research aircraft models[C]. Proceedings of
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[4]

Reynolds CW.. Flocks, herds, and schools: a distributed behavioral model[J]. Comput. Graphics, 1987, 21: 25-33

[5]

Irene Giardina. Collective behavior in animal groups: Theoretical models and empirical studies[J]. HFSP Journal, 2008, 2(4): 205-219

[6]

Warburton K., Lazarus J.. Tendency-distance models of social cohesion in animal groups[J]. J. Theor. Biol., 1991, 150: 473-88

[7]

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[8]

J. M. Maciejowski. Predictive control with constraints[M]. Prentice Hall PTR, 2002

[9]

Schmid, C., L.T. Biegler. Quadratic programming methods for reduced hessian SQP[J]. Computers & Chemical Engineering,
18(9): 817-832, 1994

1982-
Email: do_young@126.com

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