This paper proposes a consensus-based guidance methodology for multiple air vehicles to arrive at the same spot cooperatively. First, based on the Lyapunov stability theory, a guidance law with only one control parameter is proposed, and the exact expression of total flight time can be obtained with a control parameter equal to one. Then, a two-step guidance scheme, which can achieve a finite-time consensus of the flight time, is built upon the Lyapunov-based guidance law. In the first step, on account of the information exchange between the air vehicles through an undirected and connected communication topology, a time-varying control parameter is designed to reduce the disparities of the flight time. After the consensus of the flight time, the control parameter will remain constant at one, and simultaneous arrival can be achieved. Besides, the guidance strategy is applied in a leader-follower case that one of the vehicles cannot receive information from the others and acts as the leader. The effectiveness of the proposed method is demonstrated with simulations.

中文翻译：

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分布式通信场景下多架飞行器的协调法

本文提出了一种基于共识的制导方法，可以使多种飞行器协同到达同一地点。首先，基于Lyapunov稳定性理论，提出了仅具有一个控制参数的制导律，并且在控制参数等于1的情况下可以获得总飞行时间的精确表达式。然后，在基于李雅普诺夫的制导律的基础上，建立了两步制导方案，可以实现飞行时间的有限时间共识。在第一步中，考虑到飞行器之间通过无方向和连接的通信拓扑进行信息交换，设计了时变控制参数以减少飞行时间的差异。在一致的飞行时间之后，控制参数将保持恒定为1，并且可以实现同时到达。除了，引导策略适用于跟随者跟随情况，即其中一辆车辆无法从其他车辆接收信息并充当引导者。仿真结果证明了该方法的有效性。