智能高速飞行器前沿技术专刊:状态约束下多飞行器预设时间协同制导

  • 张祚铭 ,
  • 王利楠 ,
  • 周艳 ,
  • 温广辉
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  • 1. 北京理工大学
    2. 东南大学

收稿日期: 2026-02-26

  修回日期: 2026-07-16

  网络出版日期: 2026-07-20

Predefined-time cooperative guidance of multiple flight vehicles with state constraints

  • ZHANG Zuo-Ming ,
  • WANG Li-Nan ,
  • ZHOU Yan ,
  • WEN Guang-Hui
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Received date: 2026-02-26

  Revised date: 2026-07-16

  Online published: 2026-07-20

摘要

针对多飞行器在机动目标条件下同时满足打击速度与角度约束的协同制导难题,提出了一种分布式三维协同末制导方法。所设计的制导策略由视线方向制导律以及相对于视线方向的法向和侧向制导律构成。首先,在视线方向上构造了考虑终端打击速度约束的协同制导律,以实现多飞行器相对距离的一致性演化,确保所有飞行器在指定打击速度下同步命中机动目标。其次,在法向与侧向分别设计了鲁棒实际预定时间滑模制导律,使视线角在预定义的时间内精确收敛至期望值。针对目标未知机动,设计扰动观测器进行有效估计与补偿,显著增强了系统的鲁棒性。基于 Lyapunov 稳定性理论,严格证明了闭环系统的稳定性。最后,在三维机动目标拦截场景下开展了多飞行器协同制导数值仿真,仿真结果验证了所提方法在满足速度与角度约束条件下实现同步精确打击的有效性。

本文引用格式

张祚铭 , 王利楠 , 周艳 , 温广辉 . 智能高速飞行器前沿技术专刊:状态约束下多飞行器预设时间协同制导[J]. 航空学报, 0 : 1 -0 . DOI: 10.7527/S1000-6893.2026.33517

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.

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