【摘要】 考虑多主-多从式群组飞行器的协同制导问题，提出了可使得多个飞行器群组在指定时间同时命中目标的协同制导方法。首先，基于剩余命中时间一致性给出多主飞行器的攻击时间控制协同制导律，使得主飞行器能够在指定时间同时命中目标；在此基础上，为每个主飞行器所在群组的从飞行器给出基于距离一致性的协同制导律，使得从飞行器-目标距离同步于主飞行器-目标距离，从而实现所有飞行器对目标的指定时间同时命中。理论分析表明，主飞行器和从飞行器的协同制导律都具备固定时间收敛特性。仿真结果验证了所提出方法的正确性和有效性。更多还原

【Abstract】 Considering the cooperative guidance problem of multi-master-multi-slave group aircrafts, a cooperative guidance method is proposed which can make multiple groups of vehicles reach the target simultaneously at the desired impact time. Firstly, a cooperative guidance law with impact time control is given for the leaders to achieve simultaneous arrival on basis of the consensus of the time-to-go estimates. After that, the followers in each group with one leader are governed by the proposed cooperative guidance law with the distance consensus. The synchronization of desired impact time for all the flight vehicles is achieved by means of the consensus of the leader-target ranges and the follower-target ranges. The theoretical analysis indicates that the cooperative guidance laws for the leaders and the followers possess the feature of fixed-time convergence. The simulation results validate the correctness and effectiveness of the proposed approach.更多还原