标题： 基于共识的偏离追踪以保证同时拦截移动目标 显示英文标题

标题： Consensus-driven Deviated Pursuit for Guaranteed Simultaneous Interception of Moving Targets

摘要： 这项工作提出了一种协作策略，该策略采用偏离追踪制导来同时拦截一个移动（但不机动）的目标。 与许多现有的协作制导策略不同，这些策略基于比例导航制导使用到达时间的估计值，所提出的策略使用到达时间的精确表达式以确保同时拦截。 制导设计考虑了非线性交战运动学，使得所提出的策略在较大的工作范围内仍然有效。 与现有同时拦截策略不同，这些策略在初始到达时间估计的平均值处实现拦截，本工作提供了选择撞击时间的灵活性。 通过谨慎选择通信网络的边权重，可以实现到达时间的加权共识。 已经证明，通过允许边权重为负数，甚至可以在撞击时间位于各个拦截器初始到达时间值集合的凸包之外的情况下实现到达时间的共识。 对于一些特殊图，已经使用奈奎斯特准则分析了此类负权重的范围。 提供了仿真结果以证明所提出策略的有效性。 显示英文摘要

摘要： This work proposes a cooperative strategy that employs deviated pursuit guidance to simultaneously intercept a moving (but not manoeuvring) target. As opposed to many existing cooperative guidance strategies which use estimates of time-to-go, based on proportional-navigation guidance, the proposed strategy uses an exact expression for time-to-go to ensure simultaneous interception. The guidance design considers nonlinear engagement kinematics, allowing the proposed strategy to remain effective over a large operating regime. Unlike existing strategies on simultaneous interception that achieve interception at the average value of their initial time-to-go estimates, this work provides flexibility in the choice of impact time. By judiciously choosing the edge weights of the communication network, a weighted consensus in time-to-go can be achieved. It has been shown that by allowing an edge weight to be negative, consensus in time-to-go can even be achieved for an impact time that lies outside the convex hull of the set of initial time-to-go values of the individual interceptors. The bounds on such negative weights have been analysed for some special graphs, using Nyquist criterion. Simulations are provided to vindicate the efficacy of the proposed strategy.