基于分布式凸优化的能量最优多向协同制导方法

The angle-optimal cooperative guidance of multiple aerial vehicles enables multi-directional interception of maneuvering targets with minimal energy consumption, which is an important research direction in the field of guidance. The current optimal cooperative guidance methods depend on global information and centralized communication which has low reliability in practical applications. To address the issue mentioned above, an energy-optimal relative-angle-constrained cooperative guidance method based on distributed convex optimization is proposed to resolve the contradiction between the locality of distributed information and the global optimality of cooperative commands. Based on the generalized trajectory shaping guidance law (GTSG),the mapping relationship between aerial vehicle control energy and desired terminal line-of-sight (LOS) angle is derived. A convex objective function is formulated using total control energy,and the convex constraints are established based on relative LOS angle constraints, thereby constructing a distributed convex optimization problem. The extended primal-dual algorithm (EPDA) is then introduced to achieve distributed global optimization,enabling the real-time coordination of aerial vehicle LOS angles for minimum-energy interception. The simulated results and analysis demonstrate that the proposed method does not rely on a central node while ensuring global energy optimality compared with existing centralized angle-coordinated guidance algorithms.