带视线角约束的多导弹有限时间协同制导律

针对多导弹在平面内从各自期望方向同时击中机动目标的问题，提出了一种带视线角约束且能打击机动目标的有限时间协同制导律。基于平面内的导弹-目标相对运动方程建立了考虑视线角约束的多导弹协同制导模型；在视线方向基于多智能体协同控制理论和积分滑模控制理论设计了多导弹分布式有限时间协同制导律，以保证所有导弹打击时刻有限时间趋于一致；在视线法向方向采用非线性干扰观测器对目标加速度在有限时间内进行估计，并基于有限时间滑模控制理论设计了带视线角约束的制导律，以保证导弹击中机动目标且其视线角有限时间内收敛到期望值。通过仿真验证了所设计的协同制导律可使多导弹从各自期望方向同时击中机动目标。

Finite Time Cooperative Guidance Law for Multiple Missiles with Line-of-sight Angle Constraint

To solve the problem of multiple missiles attacking a maneuvering target simultaneously from desired directions in plane,a novel cooperative guidance law with line-of-sight angle constraint is proposed.A multiple missiles cooperative guidance model with line-of-sight angle constraint is constructed based on in-plane missiles-target relative motion equations.A distributed finite time cooperative guidance law in the line-of-sight direction is designed based on multi-agent system cooperative control theory and integral sliding mode control theory,which can guarantee the consensus of all missiles' impact times in finite time.In vertical direction of line-of-sight,a nonlinear disturbance observer is adopted to estimate the target's acceleration in finite time,and a guidance law with line-of-sight angle constraint is designed based on finite time sliding mode control theory.The guidance law can guarantee the missile impact the maneuvering target and the missile's line-of-sight angle converge to its desired value in finite time.The cooperative guidance law is demonstrated through simulation results,which makes multiple missiles impact the maneuvering target simultaneously from desired directions.