主-从多飞行器三维分布式协同制导方法

针对三维空间下的多飞行器协同打击问题，基于主飞行器和从飞行器架构提出了两种分布式协同制导方法，实现了所有飞行器最终对目标的同时命中。方法1在定义协调变量的基础上，通过对所选协调变量的一致性协同控制使从飞行器状态同步于主飞行器状态。方法2提出了分布式观测器对主飞行器的状态进行准确估计，各从飞行器通过跟踪观测的主飞行器状态信息实现命中时间的一致。理论分析表明，两种方法都可保证多飞行器同时命中目标。仿真结果验证了所提方法的正确性和有效性。

Three-dimensional distributed cooperative guidance law for multiple leader-follower flight vehicles

This paper investigates the three-dimensional cooperative operation for multiple flight vehicles. Based on the leader-follower structure, two distributed cooperative guidance strategies are presented to achieve simultaneous arrival of the vehicles. The first strategy enables the states of followers to synchronize with that of the leader via consensus control of the selected cooperative variables. In the other strategy, a distributed observer is proposed to estimate the state of the leader accurately, and the followers track the estimated information to obtain simultaneous arrival with the leader. Theoretical analysis indicates that all the flight vehicles governed by the two strategies can strike the target simultaneously. The simulation results validate the correctness and effectiveness of the proposed strategies.