This work develops a unified nonlinear estimation-guidance-control framework for cooperative simultaneous interception of a stationary target under a heterogeneous sensing topology, where sensing capabilities are non-uniform across interceptors. Specifically, only a subset of agents is instrumented with onboard seekers (informed/seeker-equipped agents), whereas the rest of them (seeker-less agents) acquire the information about the target indirectly via the informed agents and execute a distributed cooperative guidance for simultaneous target interception. To address the resulting partial observability, a predefined-time distributed observer is leveraged, guaranteeing convergence of the target state estimates for seeker-less agents through information exchange with seeker-equipped neighbors over a directed communication graph. Thereafter, an improved time-to-go estimate accounting for wide launch envelopes is utilized to design the distributed cooperative guidance commands. This estimate is coupled with a predefined-time consensus protocol, ensuring consensus in the agents' time-to-go values. The temporal upper bounds within which both observer error and time-to-go consensus error converge to zero can be prescribed as design parameters. Furthermore, the cooperative guidance commands are realized by means of an autopilot, wherein the interceptor is steered by canard actuation. The corresponding fin deflection commands are generated using a predefined-time convergent sliding mode control law. This enables the autopilot to precisely track the commanded lateral acceleration within a design-specified time, while maintaining non-singularity of the overall design. Theoretical guarantees are supported by numerical simulations across diverse engagement geometries, verifying the estimation accuracy, the cooperative interception performance, and the autopilot response using the proposed scheme.

翻译：本研究针对异构感知拓扑下静止目标的协同同时拦截问题，提出了一种统一的非线性估计-制导-控制框架，其中拦截器间的感知能力非均匀分布。具体而言，仅部分智能体配备机载导引头（信息感知/导引头配备型智能体），其余智能体（无导引头智能体）通过信息感知型智能体间接获取目标信息，并执行分布式协同制导以实现同时目标拦截。为解决由此产生的部分可观测性问题，采用预定义时间分布式观测器，通过有向通信图与配备导引头的邻接节点进行信息交换，保证无导引头智能体的目标状态估计收敛。随后，采用一种适应宽发射包线的改进剩余飞行时间估计量来设计分布式协同制导指令。该估计量与预定义时间一致性协议相结合，确保各智能体剩余飞行时间值达成一致。观测器误差与剩余飞行时间一致性误差收敛至零的时间上界均可预设为设计参数。此外，协同制导指令通过自动驾驶仪实现，其中拦截器由鸭翼舵面驱动控制。相应的舵偏指令采用预定义时间收敛滑模控制律生成，使自动驾驶仪能在设计规定时间内精确跟踪指令横向加速度，同时保证整体设计的非奇异性。通过多种交战几何构型的数值仿真验证了理论保证，结果表明所提方案在估计精度、协同拦截性能及自动驾驶仪响应方面均具有优异表现。