带空间协同的多导弹时间协同制导律

针对多导弹在平面内从期望的弹目视线（LOS）相对方向同时击中固定目标问题，提出了一种带空间协同的多导弹时间协同制导律。基于平面内的导弹-目标相对运动方程，建立了带空间协同的多导弹时间协同制导模型；基于多智能体协同控制理论，在视线方向设计了分布式时间协同制导律，可保证所有导弹的打击时刻在有限时间内达到一致，在视线法向方向设计了分布式空间协同制导律，可保证所有导弹的相对视线角在有限时间内收敛到期望值；最后，通过仿真验证了所设计的协同制导律可使多导弹从期望的弹目视线相对方向同时击中目标。

Time-cooperative guidance law for multiple missiles with spatial cooperation

In order that multiple missiles can hit a stationary target simultaneously in the desired relative direction of the missile-target Line-of-Sight(LOS) in the plane, a time-cooperative guidance law for multiple missiles with spatial cooperation is proposed. Based on in-plane missile-target relative motion equations, a time cooperative guidance model for multiple missiles with spatial cooperation is constructed. Based on the theory of multi-agent cooperative control, in LOS direction, a distributed time-cooperative guidance law is postulated, which can guarantee that all missiles' impact times reach consensus in a finite time. In the vertical direction of LOS, a distributed space-cooperative guidance law is postulated, which can guarantee that missiles' relative LOS angles converge to the desired values in a finite time. Numerical simulations demonstrate that the proposed cooperative guidance laws can ensure that multiple missiles hit the target simultaneously in the desired relative directions of the missile-target LOS.