基于二维平面内弹-目相对运动方程,研究了具有角度约束的多导弹协同攻击问题。利用变结构控制原理,分别设计了满足攻击时间和满足终端视线角的导引律。同时提出一种切换思想,使得导弹在飞行过程中根据不同情况在两种导引律间合理切换,同时兼顾飞行时间和攻击角度。将导弹的剩余飞行时间估计作为弹间交互的信息,从而决策出共同的攻击时间协同打击目标。仿真结果证明该方法的有效性。

The paper is devoted to design a kind of cooperative guidance law of missiles with angle constraint for relative motion between missile and target in two-dimension plane. Two kinds of guidance law satisfy the attack time and terminal angle are proposed respectively by use of sliding mode variable structure control. To take account of time-coordination and angle constraint, a reasonable distribution is taken to make missiles choose the law in different situation. Time-to-go estimate is considered as the interactive information among missiles to obtain the common attack time. The simulation results demonstrate the method is valid.