增益可调的预设时间领从式时空协同制导律

doi:10.7527/S1000-6893.2025.32821

Abstract

Abstract:

To address the problem of cooperative engagement of multiple missiles against a maneuvering target in three-dimensional space， this paper proposes a cooperative guidance law with controllable convergence time， impact time， and impact angle. By constructing a novel gain-tunable prescribed-time stability criterion， the convergence time of the guidance law can be arbitrarily set under the premise of ensuring bounded gain without sacrificing convergence accuracy. This criterion introduces a gain-tunable mechanism， which accommodates both constant and time-varying gain designs， and significantly improves the accuracy of the prescribed convergence time. First， a prescribed-time disturbance observer is proposed， which can accurately estimate the target acceleration within the prescribed time without relying on any priori information of the maneuvering target. Second， in the Line-of-Sight （LOS） direction， a leader-follower architecture is adopted. An impact time control guidance law is designed for the leader missile to achieve active control of the impact time of the missile swarm. For the follower missiles， a distributed prescribed-time state observer suitable for the directed communication is designed， and combined with a prescribed-time state tracking controller to ensure that the follower missiles can quickly and accurately estimate and track the state of the leader within the prescribed time， thereby achieving attack synchronization of multiple missiles. Third， in the LOS normal direction， a prescribed-time LOS angle control guidance law is proposed to drive the LOS angles of each missile to converge to the desired values within the prescribed time. Finally， numerical simulations under multiple cases are conducted to verify the effectiveness and superiority of the proposed guidance law.

Key words: gain-tunable, directed communication, spatial cooperative, temporal cooperative, missile, prescribed-time stability

CLC Number:

V448.133

Mingxing QIN, Le WANG, Bing LI, Jianxiang XI, Liangyu ZHAO. Leader-follower spatial-temporal cooperative guidance law with gain-tunable prescribed-time convergence[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(8): 332821.

Figures/Tables 11

Fig.1

Fig.2

Fig.3

Table 1

Initial states and desired terminal line-of-sight angles of missiles

参数	领弹0	从弹1	从弹2	从弹3	从弹4
$r i / m$	13 000	12 000	14 000	13 500	12 500
$r ˙ i / (m ⋅ s - 1)$	-320	-400	-380	-350	-360
$θ i / (°)$	-50	-30	-30	-20	-40
$θ ˙ i / ((°) ⋅ s - 1)$	0.63	0.246	-0.355	-0.779	-0.24
$θ D i / (°)$	-30	-15	-60	-50	-60
$ψ i / (°)$	10	45	40	60	30
$ψ ˙ i / ((°) ⋅ s - 1)$	1.404	0.67	0.521	-0.882	0.12
$ψ D i / (°)$	30	60	10	30	40

Table 1

Fig.4

Table 2

Fig.5

Fig.6

Fig.7

Fig.8

Table 3

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导弹	脱靶量/（10^-5 m）	攻击时间误差/（10^-4 s）	视线俯仰角误差/（10^-5（°））	视线方位角误差/（10^-6（°））
领弹0	2.457	1	1.185	3.693
从弹1	8.541	1	0.964	7.747
从弹2	5.549	1	1.276	0.343
从弹3	1.210	1	1.252	4.997
从弹4	0.179	1	1.166	9.643

导弹	脱靶量/m	攻击时间误差/s	视线俯仰角误差/（°）	视线方位角误差/（°）
领弹0	0.000 2	0.000 1	0.115 4	0.131 8
从弹1	0.005 9	0.004 1	0.122 0	0.111 0
从弹2	0.012 4	0.003 3	0.081 2	0.157 7
从弹3	0.013 0	0.001 3	0.112 6	0.144 1
从弹4	0.013 7	0.001 9	0.117 4	0.150 3

Leader-follower spatial-temporal cooperative guidance law with gain-tunable prescribed-time convergence

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