有向拓扑下无径向速度测量的多导弹协同制导

针对多枚导弹在平面内从各自期望的方向同时击中移动目标问题，提出一种有向通信拓扑下无需导弹-目标径向速度测量且带视线角约束的分布式有限时间协同制导律。基于平面内导弹-目标相对运动方程建立带视线角约束的多导弹协同制导模型。基于二阶多智能体协同控制理论设计了视线方向上的制导律，可保证有向拓扑下多导弹的打击时刻在有限时间内达到一致。基于齐次系统稳定性理论和积分滑模控制理论设计了视线法向方向上的制导律，可保证多导弹击中移动目标且视线角在有限时间内收敛到期望值。仿真校验所设计的协同制导律在理想条件下可使有向拓扑下的多导弹从各自的期望方向同时击中移动目标。

Cooperative Guidance without Radial Velocity Measurement for Multiple Missiles under Directed Topologies

 To solve the problem of the multiple missiles attacking a moving target simultaneously from the desired directions in plane, a novel distributed finite time cooperative guidance law with line-of-sight (LOS) angle constraint for multiple missiles without missile-target’s radial velocity messurement under directed topologies is proposed. Firstly, based on missiles-target relative motion equations in plane, the multi-missile cooperative guidance model with the LOS angle constraint is constructed. Then, based on the second-order multi-agent system cooperative control theory, a guidance law in LOS direction is designed which can guarantee the finite time consensus of the impact times of the multiple missiles with directed topologies. Next, based on the homogeneous system stability theory and integral sliding mode control theory, a guidance law in the vertical direction of the LOS is designed, which can guarantee the missiles to impact the moving target and their LOS angles converge to the desired values in finite time. Finally, the designed cooperative guidance law is demonstrated through the simulation results under the ideal conditions to make the multiple missiles with directed topologies impact the moving target simultaneously from the desired directions.