针对多弹协同拦截单个机动目标的问题, 提出了一种协同制导律能够同时满足攻击时间和攻击角度约束。首先, 根据系统动态方程和一致性算法选取了包含飞行时间变量的积分滑模变量, 基于此设计了二阶滑模控制器作为导弹在视线方向上的制导律, 以保证所有导弹同时拦截目标; 然后, 基于高阶滑模干扰观测器对视线角方程中的干扰进行估计补偿, 设计了导弹在视线法向上的滑模制导律, 以满足期望视线角约束和零化视线角速率的要求; 另外, 基于李雅普诺夫稳定性理论分别证明了制导系统两个子通道的稳定性; 最后, 仿真验证了所设计协同116制导律的有效性。

For the problem of multi-missiles intercepting single maneuvering target, the cooperative guidance law with impact time and angle constraints was presented. Firstly, considering the system dynamics equation and the multi-agent consensus algorithm, a second order sliding mode controller along the line of sight(LOS) was proposed based on integral sliding mode control concept to guarantee salvo interception. Then an higher order sliding mode observer (HOSMO) was designed to estimate external disturbances of the perpendicular to the LOS. In addition, the sliding mode controller with HOSMO was proposed to guarantee the LOS angles converge to desired commands and the LOS angle rates converge to zero. Moreover, the stability of the two subsystem channels were proved by Lyapunov theorem. Simulation results illustrate the effectiveness of the proposed cooperative guidance law.