中文摘要：

针对多导弹协同拦截一个机动目标问题，基于有限时间一致性理论提出了一种带有攻击角约束的多导弹协同制导律。首先建立了带有攻击角约束的多导弹协同制导模型。其次，把协同制导律的设计过程分离为两个部分：一是基于有限时间一致性，同时结合积分滑模和自适应控制设计沿着视线方向上的加速度指令，保证所有的导弹能够在有限时间内同时拦截机动目标；二是利用非齐次干扰观测器并运用滑模控制设计视线法向上的加速度指令来保证每枚导弹与目标间的视线角速率收敛到零和视线角收敛到期望的视线角。最后，对三枚导弹同时打击同一机动目标的情况进行仿真，仿真结果表明该设计的带有攻击角约束的协同制导律的有效性和正确性。

英文摘要：

For the problem of multiple missiles cooperatively intercepting a maneuvering target, based on finite-time consensus theory, a novel cooperative guidance law with impact angle constraints is proposed. Firstly, the multiple-missile cooperative guidance model with impact angle constraints is constructed. We subsequently divide the process of cooperative guidance law design into two stages. In the first stage, with the use of the finite-time consensus theory, integral sliding mode and adaptive control, the acceleration command on the line-of-sight （LOS） direction is developed to guarantee that all missiles simultaneously intercept the maneuvering target in finite time. In the second stage, based on the sliding mode control and the non-homogeneous disturbance observer, the acceleration command on the normal direction of the LOS is designed to guarantee that the LOS angular rate between each missile and the target converges to zero and the LOS angle converges to the desired terminal LOS angle. Finally, simulation results for the interception scenario of three missiles intercepting a maneuvering target are provided to demonstrate the effectiveness and superiority of the proposed cooperative guidance law with impact angle constraints.