关键词: 三维协同制导, 打击速度约束, 打击角度约束, 预定时间控制

Abstract: A distributed three-dimensional cooperative terminal guidance method is proposed to address the challenge of simultaneously satisfying impact velocity and angle constraints of multiple flight vehicles against the maneuvering target. The designed guidance strategy consists of a guidance law along the line-of-sight direction, as well as normal and lateral guidance laws relative to the line-of-sight direction. Firstly, a cooperative guidance law considering terminal impact velocity constraints is constructed along the line-of-sight direction, ensuring that all flight vehicles can hit the maneuvering target simultaneously with the specified impact velocity. Secondly, robust practical predefined-time sliding mode guidance laws are derived in the normal and lateral directions, ensuring that the impact angles converge to the desired values accurately within the predefined time. A disturbance observer is designed for effective estimation and compensation of unknown target maneuvers, significantly enhancing the robustness of the system. Based on the Lyapunov stability theory, the stability of the proposed guidance law has been rigorously proven. Finally, in the three-dimensional maneuvering target interception scenario, numerical simulations are conducted on multiple flight vehicles,illustrating the effectiveness of the proposed method in achieving synchronized and precise strikes while satisfying velocity and angle constraints.

Key words: Three-dimensional cooperative guidance, Impact velocity constraints, Impact angle constraints, Predefined-time control