水下不完全信息的微分博弈机动攻防导引律设计

doi:10.3785/j.issn.1008-973X.2025.08.008

浙江大学学报(工学版)

2025, Vol. 59

Issue (8): 1617-1623 DOI: 10.3785/j.issn.1008-973X.2025.08.008

机械工程、能源工程

水下不完全信息的微分博弈机动攻防导引律设计

韩冬阳1(

),张倩倩1,2,汪海涛1,印明明1

1. 上海船舶电子设备研究所，上海 201108
2. 上海交通大学机械与动力工程学院，上海 200240

Design of maneuvering attack-defense guidance law for differential game with underwater incomplete information

Dongyang HAN1(

),Qianqian ZHANG1,2,Haitao WANG1,Mingming YIN1

1. Shanghai Marine Electronic Equipment Research Institute, Shanghai 201108, China
2. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

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摘要：

针对水下机动攻防环境中信息不完全问题，基于微分博弈理论，开展目标-攻击者-防御者的导引律设计研究. 通过相对运动关系与博弈最优条件，获得满足纳什均衡的航行反馈控制形式. 考虑航行器运动控制与观测含噪因素，设计基于随机微分博弈的改进导引策略. 结合离散观测信息条件，推导鞍点博弈对. 调整对策，使导引控制对策更贴近现实探测. 通过对策模拟与对比，验证所提博弈求解结果在递进信息限制条件下的有效性. 结果显示，所提策略的表现良好，可以为不完全信息机动导引律的设计提供指导.

关键词： 机动攻防; 不完全信息; 导引律; 随机微分博弈

Abstract:

Research was conducted on the design of guidance laws for targets, attackers and defenders based on differential game theory aiming at the issue of incomplete information in underwater maneuvering attack-defense environment. A navigation feedback control form that satisfied Nash equilibrium was obtained by using relative motion relationships and game-theoretic optimal conditions. An improved guidance strategy based on stochastic differential games was designed by considering the noisy factors in aircraft motion control and observation. The saddle-point game pair was derived by combining the conditions of discrete observation information. The game countermeasures were adjusted to make the guidance control countermeasures closer to real-world detection. The effectiveness of the proposed method under progressive information constraint conditions was verified through game simulation and comparison. Results show that the proposed strategy performs well and can provide guidance for the design of maneuvering guidance laws with incomplete information.

Key words: maneuvering attack-defense incomplete information guidance law stochastic differential game

收稿日期: 2024-07-28 出版日期: 2025-07-28

TJ 630

基金资助: 智能博弈重点实验室创新工作站开放课题（ZBKF-24-03）.

作者简介: 韩冬阳（1998—），男，助理工程师，从事水下博弈策略的研究. orcid.org/0000-0002-3711-4744. E-mail: 1061118711@qq.com

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引用本文:

韩冬阳,张倩倩,汪海涛,印明明. 水下不完全信息的微分博弈机动攻防导引律设计[J]. 浙江大学学报(工学版), 2025, 59(8): 1617-1623.

Dongyang HAN,Qianqian ZHANG,Haitao WANG,Mingming YIN. Design of maneuvering attack-defense guidance law for differential game with underwater incomplete information. Journal of ZheJiang University (Engineering Science), 2025, 59(8): 1617-1623.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2025.08.008 或 https://www.zjujournals.com/eng/CN/Y2025/V59/I8/1617

图 1 初始态势的模拟演示

图 2 短博弈时长下的三方攻防运动轨迹

图 3 长博弈时长下的三方攻防运动轨迹

图 4 各类导引对比方法的运动轨迹

表 1 各类导引方法的博弈结果对比

图 5 控制与观测误差系数的鲁棒性分析

图 6 离散观测的鲁棒性分析

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