A distributed time cooperative guidance method based on the finite-time control theory is proposed to solve the salvo attack problem of multi-hypersonic vehicles in the three-dimensional space. Firstly, the second-order system is defined with the relative distance and the total leading angle as the state variables, and the finite-time controller is designed based on the multi-agent cooperative control theory for achieving the consistency of system. Novelty, taking the influence of parameters on the cooperative guidance results into account, an adaptive weight function is designed to replace the traditional constant coefficient to optimize guidance results. Then, the motion of vehicle in three-dimensional space is divided into two planes, the proportional navigation guidance (PNG) is applied in longitudinal and the lateral acceleration can be obtained via the finite-time controller and longitudinal acceleration. It is significant to establish the lateral leading angle finite-time convergence guidance law to compensate the lateral acceleration to accelerate the convergence speed. Furthermore, the biased term of terminal impact angle control is applied in PNG to achieve the terminal attack in arbitrary angle. Finally, the feasibility and robustness are verified by numerical simulations.

提出一种基于有限时间控制理论的分布式时间协同制导方法来解决多高超声速飞行器在三维空间的齐射问题。首先以相对距离和总导角为状态变量定义二阶系统，并基于多智能体协同控制理论设计有限时间控制器，以实现系统的一致性。新颖性，考虑参数对协同制导结果的影响，设计自适应权重函数代替传统的常系数优化制导结果。那么，车辆在三维空间中的运动被分为两个平面，纵向采用比例导航制导（PNG），横向加速度可通过有限时间控制器和纵向加速度获得。建立横向超前角有限时间收敛制导律对横向加速度进行补偿以加快收敛速度​​具有重要意义。此外，在PNG中应用了终端冲击角度控制的偏置项，以实现任意角度的终端冲击。最后，通过数值模拟验证了可行性和鲁棒性。PNG中应用末端冲击角度控制的偏置项，实现任意角度的末端冲击。最后，通过数值模拟验证了可行性和鲁棒性。PNG中应用末端冲击角度控制的偏置项，实现任意角度的末端冲击。最后，通过数值模拟验证了可行性和鲁棒性。