The initial conditions of the cooperative terminal guidance law, which are the terminal conditions of the cooperative midcourse guidance, have a greater impact on its cooperation and guidance precision, so it is worthy of investigating the cooperative midcourse guidance. In addition, the problem of communication delay between the network nodes is inevitable and has a greater impact on the cooperative guidance law. To solve the above problems, a novel distributed cooperative midcourse guidance (DCMG) law with communication delay is proposed by combining the cooperative term with a distributed consensus protocol including communication delay under the directed communication topology. Firstly, a DCMG law with communication delay is designed by combining the trajectory shaping guidance with the distributed protocol including communication delay under the directed communication topology; secondly, the consensus of the proposed DCMG law with communication delay under the directed graph is proved; finally, the effectiveness and superiority of the proposed DCMG law are verified by numerical simulations.

中文翻译：

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具有通信延迟的合作中途引导法

合作终端制导律的初始条件，即合作中途制导的终端条件，对其合作制导精度影响较大，因此值得对合作中途制导进行研究。此外，网络节点之间的通信延迟问题在所难免，对协同制导规律影响较大。针对上述问题，在有向通信拓扑结构下，将协作项与包含通信延迟的分布式共识协议相结合，提出了一种新的具有通信延迟的分布式协作中途制导（DCMG）律。首先，在有向通信拓扑结构下，将轨迹整形引导与包含通信延迟的分布式协议相结合，设计了具有通信延迟的DCMG律；其次，证明了所提出的DCMG律在有向图下具有通信延迟的一致性；最后，通过数值模拟验证了所提出的DCMG定律的有效性和优越性。