拦截机动变速目标的多约束协同微分博弈制导律

A novel cooperative differential game guidance law is proposed to address the problem of effective coordinated attack on maneuvering and varying speed targets in the terminal guidance. Firstly,a guidance model for intercepting maneuvering and varying speed targets is established. Utilizing the theory of differential games,energy consumption constraints,the intercept angle constraints and miss distance are considered as performance index. Based on optimal control methods,a cooperative game guidance law with arbitrary-order linear dynamics is derived. Considering the possible external disturbance of the missile,a time-varying gain extended state observer is designed to estimate disturbances,compensating for them in the game strategy to achieve ϵ-Nash equilibrium in multi-missile games,with the upper bound of ϵ is calculated. Furthermore,to validate the effectiveness of the proposed guidance law,an analytical cooperative guidance law for a two-to-one scenario with ideal dynamics and constant axial acceleration is provided,and the effectiveness is validated by numerical simulations.