通信拓扑切换下的预定时间分组协同制导方法

针对通信网络拓扑结构切换下的协同制导问题，提出了一种预定时间协同制导方法(PTCGL),以保证拓扑切换下的预定时间分组收敛。首先，建立三维飞行器协同制导模型和拓扑切换下的分组协同架构：组间利用小组领队飞行器之间的协作实现分组配合，组内则通过有向通信实现组协同。随后，在通信网络拓扑结构切换的情况下，结合牵制控制和预定时间理论，基于M矩阵假设的牵制分组误差和预定时间尺度函数提出拓扑切换三维预定时间协同制导律。进一步，考虑拓扑切换驻留时间，利用Lyapunov理论证明在通信拓扑切换的情况下，该制导律可实现预定时间收敛。最后，数值仿真结果验证了所提出的协同制导方法可实现在拓扑切换下的预定时间收敛、保证分组协同打击。

Prescribed time Cooperative Guidance Law with Switching Communication Topologies

Aiming at the cooperative guidance problem with switching topologies, a three dimensional prescribed time cooperative guidance law (PTCGL) is proposed to ensure the convergence of predetermined time packets in topology switching. Firstly, the 3D cooperative guidance model of the vehicle is established and the group framework with switching topologies is introduced, that is, the intra group cooperation is guaranteed by the communications among group leaders and the inter group cooperation can be achieved with directed communication. Then, in the case of topology switching of communication networks, combined with the pinning control and predetermined time theory, a prescribed time cooperative guidance law with switching topologies is proposed with time scaling function and pinning group consensus based on M matrix assumption. Furthermore, the prescribed time stability of the guidance system with switching topologies is proved by Lyapunov theory and analyzed with dwell time. Finally, the numerical simulation results show that the prescribed time convergence can be guaranteed with switching topologies and the proposed cooperative guidance scheme can achieve the cooperative mission effectively.