速度时变情况下多飞行器时间协同制导方法研究

针对无动力飞行器在速度时变情况下的同时攻击问题，提出基于非线性扩张状态观测器的分布式时间协同三维制导方法。定义飞行器的总前置角以推导简化的相对运动方程，并选取飞行器与目标的相对距离和接近速度为协调变量。考虑实际中飞行器速度时变的情况，把速度变化率建模误差及外界干扰作为扰动，弥补了已有方法对速度严格限制为常速的不足。为了估计系统扰动，设计非线性扩张状态观测器，并证明了带扰动估计的一致性控制协议可以保证多飞行器系统攻击时间的有界一致性。基于该控制协议的时间协同制导律由于在飞行器速度方向与视线方向之间始终存有夹角，当时间协同基本达成时切换成前置角有限时间收敛制导律，以保证最终的制导精度和攻击效果，两种制导律采用模糊逻辑规则平滑连接。通过仿真实验验证了所提制导方法的有效性以及优势。

Research on Time-cooperative Guidance of Multiple Flight Vehicles with Time-varying Velocity

A distributed time-cooperative three-dimensional guidance method based on nonlinear extended state observer is proposed for the simultaneous attack of powerless flight vehicles with time-varying velocity. The complex leading angle of flight vehicle is defined to deduce the simplified relative motion equation，and the relative distances between flight vehicle and target and the approaching velocity are selected as the coordination variables. Considering the time-varying velocity of flight vehicle in practical situation, the modeling error of velocity change rate and the external interference are taken as the disturbance, which make up for the shortcomings of the existing methods that restrict the velocity strictly to a constant velocity. The nonlinear extended state observer is designed to estimate system disturbances, and the consensus control protocol with disturbance estimation is demonstrated to guarantee the bounded consensus of all flight vehicles' attack times. For an angle between the velocity direction and the line of sight direction always existing in the time-cooperative guidance law based on the control protocol, the time-cooperative guidance law is switched to the finite-time convergent guidance law to ensure the final guidance accuracy and attack effect when simultaneous attack is basically realized, and the fuzzy logic rules are used to achieve the smooth connection of the two guidance laws. The effectiveness and advantages of the proposed distributed time-cooperative guidance method are verified by using the simulated results. Key