To solve the problem of cooperative encirclement and simultaneous attack of multiple unmanned aerial vehicles, variational method and Hamiltonian optimization are utilized to design an optimal attack trajectory of multiple attackers pursuing a single target that has fixed initial relative state, fixed final relative state and fixed duration of the attack under condition that the acceleration of the target being estimable. When terminal relative state and attack duration are unknown, online calculation algorithm is used to compute a chain of key intermediate points to create the guidance law and ensure successful deliverance of multiple attackers’ simultaneous attack of the target. The only requirement for the multi-attacker communication network is that it contains a directed spanning tree. The guidance laws can function properly as long as one or more attacker can observe the target. The novel guidance laws practicability are verified by simulation results.

为解决多无人机协同包围和同时发动攻击的问题，利用变分法和哈密顿优化设计了具有初始初始相对状态，最终相对终状态和持续时间固定的单个目标的多个攻击者最优攻击轨迹。在可估计目标加速度的条件下进行攻击的能力。当终端相对状态和攻击持续时间未知时，使用在线计算算法来计算一系列关键中间点，以创建制导律，并确保成功交付多个攻击者同时攻击目标。多攻击者通信网络的唯一要求是它包含定向生成树。只要一个或多个攻击者可以观察到目标，指导法就可以正常运行。仿真结果验证了新的制导律实用性。