预定时间多导弹三维协同制导律

Three-dimensional Cooperative Guidance Law for Multiple Missiles with Predefined-time Convergence

针对多枚导弹在三维空间中协同打击机动目标问题,提出了一种具有攻击时间约束和视线角约束的预定时间协同制导律。提出的预定时间协同制导律由两部分组成。首先,设计了新的预定时间多智能体一致性协议,在此基础上设计了视线方向的预定时间协同制导律,保证各导弹同时命中目标。此外,设计了新的预定时间非奇异快速终端滑模面,在此基础上设计了视线法向的预定时间协同制导律,使得各导弹可以在预定时间内收敛到期望的视线角。最后,通过对以上协同制导律进行三维数值仿真,验证了设计的预定时间协同制导律的有效性。

For the three-dimensional guidance problem of multiple missiles cooperatively intercepting a maneuvering target,a predefined-time cooperative guidance law with impact time constraint and line-of-sight angle constraint is proposed in this paper.The predefined-time cooperative guidance law has two projection components.Firstly,a new predefined-time multi-agent consensus protocol is proposed,and then the predefined-time cooperative guidance law command on line-of-sight direction is designed to guarantee all the missiles intercept the maneuvering target simultaneously.In addition,a new predefined-time non-singular fast terminal sliding mode surface is proposed.On this basis,the predefined-time cooperative guidance law command on the normal line-of-sight direction is designed,which makes the missiles converge to the desired line-of-sight angle in a predefined time.Finally,the effectiveness of the proposed predefined-time cooperative guidance law is verified by three-dimensional numerical simulation.