Consensus Problem for a Class of Multi-agent System with Switching Topologies and Varying Velocity Constraints

This paper delves into the consensus problem for a class of multi agent system, with missiles serving as the agents under study. Each missile possesses distinct Field of View (FOV) constraint, and communication among them is subject to switching topologies. A two-stage guidance strategy is proposed.In the first stage, by deriving from Proportional Navigation principles, the problem of multi-missile salvo attack is transformed into the multi-agent consensus problem. The Field of View constraints of the missiles are translated into velocity constraints for the agents. Using the multi-agent consensus algorithm, the target range and heading angle errors among multiple missiles are coordinated to achieve consistency, even under varying FOV constraints and topology switches between the missiles. Subsequently, in the second stage, communication between missiles is severed, and they are individually guided to the target using proportional navigation, culminating in a salvo attack. Finally, simulations of the guidance of multiple missiles were conducted to validate the correctness of the proposed theory.