多飞行器打击时刻有限时间一致的协同制导律

Cooperative Guidance Law for Multiple UAVs Impact Times Consensus in Finite Time

为实现多无人飞行器对固定目标的饱和攻击,将该问题转化为多无人飞行器同时击中固定目标问题,并提出了一种打击时刻有限时间收敛到一致的多无人飞行器时间协同制导律。基于平面内的无人飞行器-目标相对运动方程,建立了多无人飞行器时间协同制导模型;基于一致性理论设计了分布式时间协同制导律,可保证所有无人飞行器的打击时刻在有限时间内快速达到一致,且无需无人飞行器大范围调节推力;最后,通过仿真验证了所设计的协同制导律可使多无人飞行器打击时刻快速达到一致并最终同时击中目标。

In order to realize the saturation attack of multiple UAVs against statistic targets,the problem is transformed into the problem of multiple UAVs hitting statistic targets at the same time.A time cooperative guidance law for multiple UAVs with the same strike time is proposed.Based on the relative motion equation between UAV and target in plane,the time cooperative guidance model of multiple UAVs is established.Based on the consensus theory,the distributed time cooperative guidance law is designed,which can ensure that the strike time of all UAVs can reach the same quickly in limited time,and there is no need for the UAV to regulate thrust in a large range.The simulation results show that the designed cooperative guidance law can make multiple UAVs’impact times achieve consensus quickly and hit the target simultaneously.