Design of Distributed Time-Cooperative Guidance of Multiple Flight Vehicles with Un-Controllable Velocity

To solve the problem of simultaneous attack on a fixed target from multiple flight vehicles with un-controllable velocity in three-dimensional space, a distributed time-cooperative guidance scheme based on consensus theory is proposed. At first, the complex lead angle is defined, and the relative distance and its change rate are selected as the coordination variables. At the same time, the missile velocity change and external disturbance are viewed as system disturbances. Through coordinate transformation, the nonlinear relative motion equations between the vehicle and the target is simplified into a double integral linear system with disturbances. Then, the structure combined distributed control protocol with the disturbance observer are designed to solve the time-cooperative guidance problem of multiple flight vehicles. When the simultaneous arrival is basically achieved, the finite-time convergent guidance law for lead angle is adopted, which is to ensure the guidance precision and attack effect. Finally, the effectiveness of the distributed time-cooperative guidance scheme of multiple flight vehicles with un-controllable velocity is verified by simulation.