针对机动目标的三维领从协同制导律

In response to the actual need for coordinated interception of multiple flight vehicle targets, this paper presents a three-dimensional spatio-temporal coordinative guidance law. Firstly, a leader-follower cooperative guidance law is developed based on the homogeneity theory and the fixed-time stability theory. This law ensures that the relative distance and relative velocity between the follower and the leader converge to a consistent value within a fixed time, respoectively. Furthermore, an upper bound for the convergence time of consistency error is provided to enable the simultaneous interception of multiple flight vehicles. Secondly, a non-singular terminal sliding mode guidance law with fixed time convergence is proposed to intercept the target with a specific collision angle in the normal direction of the line of sight. This law achieves the fixed time convergence of attack angle and mitigates the control saturation problem caused by the singularity of guidance command. Additionally, a fixed-time disturbance observer is introduced to compensate for the effects of the targetś maneuvering on the guidance system. This observer performs feedforward compensation for the target acceleration. Finally, the Lyapunov stability theory is employed to prove the fixed-time stability properties of the system. The simulated results show that the proposed guidance law can be used to effectively control multiple aircrafts to attack the maneuvering targets at the same time under the leader-follower framework, and attack the targets at the desired terminal angle.