基于微分对策的多飞行器协同捕获空间划分

针对多飞行器协同围捕问题，提出一种基于微分对策的加权制导律下捕获空间划分方法。选取合适的性能函数，建立多对一协同围捕微分对策模型；利用哈密尔顿函数法求解得出飞行器和目标的最优控制策略，获得各飞行器的零控脱靶量的最优轨迹；以2个飞行器为例，设置1个2对1协同围捕场景，根据2个飞行器初始零控脱靶量的符号和大小关系，给出各飞行器单独拦截以及协同围捕状态下的相关定义；根据各飞行器零控脱靶量的最优轨迹，围绕初始零控脱靶量给出1种协同捕获空间的划分方法；设置3个具体的仿真场景，验证结果证明了该方法的准确性。

Partition of Cooperative Acquisition Space for Multiple Aircrafts Based on Differential Game

To solve the cooperative capture problem of multiple aircrafts, a partition method of capture space based on differential game under weighted guidance law is proposed. Aiming at the relative motion model of multiple aircrafts and targets, an appropriate performance function is selected, and a many-to-one cooperative hunting differential game model is established; the optimal control strategies of aircrafts and targets are obtained by using the Hamiltonian function method, and the optimal trajectories of the zero control miss distance of each aircraft are obtained; Taking two aircrafts as an example, a two-to-one cooperative capture scenario is set up, and according to the sign and magnitude relationship of the initial zero-effort miss distance of the two aircrafts, the relevant definitions of each aircraft in the state of individual interception and cooperative capture are given, and according to the optimal trajectory of each aircraft in the state of zero-effort miss distance, a division method of cooperative capture space is given around the initial zero-effort miss quantity; Three specific simulation scenarios are set up, and the verification results prove the accuracy of the method.