中文摘要：

针对导弹之间有相互通信情况下的多导弹时间协同问题，提出了有导引时间约束的制导律和拓扑一致性算法相结合的制导方法。该方法引入了一个双层控制结构，上层协调层根据设计的通信拓扑结构选择相应的一致性算法，下层控制层采用基于比例导引改进的具有时间约束的制导律，利用指定时间这个变量可以把两者结合起来，给出了一种可行的基于导弹相互通信情况的多导弹协同方法，实现了在指定时间多导弹同时击中目标的任务，其仿真结果也验证了该制导方法的有效性。

英文摘要：

To solve the problem of cooperative attack for multiple missiles based on mutual communication between missiles, a kind of cooperative guidance method combining time-constraint guidance law and topology consensus al- gorithm is proposed. This method introduces a double-layer control structure, which is composed of a coordination strategy in the upper level and a time-constraint guidance law in the lower level. The two levels are connected by a coordinate variable. A new effective guidance law is devised, which can guide the multiple missiles to hit a target at the specified time in the case of communicating mutually. The simulation results of a multiple missile cooperative guidance example demonstrated the effectiveness of the guidance method.