俯冲段高超声速飞行器有限时间协同制导律设计

针对多枚高超声速飞行器在俯冲段协同攻击一个固定目标或慢速移动目标的问题，基于有限时间理论设计了带有视线（LOS）高低角和视线方位角约束的协同制导律。首先，将俯冲段制导过程划分为横向和纵向2个方向；其次，在纵向视线方向，将所有参与攻击的飞行器与邻居间的相对位置差值和视线速度差值作为误差项引入制导律；最后，为实现横向和纵向的视线角收敛，设计有限时间滑模制导律，并设计自适应干扰观测器估计时变扰动的上界。通过Lyapunov函数对提出的协同制导律给出详细的有限时间收敛证明，仿真实验结果验证了所设计协同制导律的正确性和有效性。 

Design of finite-time cooperative guidance law for hypersonic vehicles in dive phase

Focusing on the problem that multiple hypersonic vehicles in the dive phase attack a stationary target or a slowly moving target, a cooperative guidance law with Line-of-Sight (LOS) elevation and LOS azimuth constraint is designed based on finite-time theory. Firstly, the guidance process of the dive phase is divided into two directions: horizontal and longitudinal. Secondly, in the longitudinal LOS direction, the relative position difference and LOS velocity difference are introduced as errors into the guidance law, and the errors come from the hypersonic vehicles participating in the attack and their neighbors. Finally, in order to achieve the convergence of the horizontal and longitudinal LOS angles, the finite-time sliding mode guidance law is designed, and the upper bound of the time-varying disturbance is estimated by the designed adaptive disturbance observer. The finite-time convergence of the proposed cooperative guidance law is proved by Lyapunov function. The simulation results show that the proposed cooperative guidance law is correct and effective.