本研究為提升彈道飛彈攔截之精準度與多彈協同攔截能力，依序從路徑規劃、控制方法展開。首先，導彈飛行路徑規劃部分採用二次貝茲曲線結合時間參數的方式，規劃出平滑的導彈飛行路徑，以作為後續前饋控制器的設計依據。接著，在控制方法方面，提出一套混合姿態控制及追蹤控制之方法。亦即，透過回授控制與前饋控制，提高單一飛彈攔截時的精度。至於多對一攔截問題，我們除了為每顆飛彈規劃等長之飛行路徑外，更設計一耦合滑模同步控制方法，使多顆飛彈可同步攔截目標。模擬結果顯示，在包含氣動力係數建模誤差、外力擾動的情況下，運用本研究提出之控制方法不論在一對一或多對一攔截的問題上，均可提高飛彈攔截的效能。證實了本研究對於未來防禦架構之可行性與實用價值。

This study proposes a method to enhance the precision of missile interception along its trajectory and improve the coordination ability for multi-missile interception. The approach develops from trajectory planning to control methodology.First, a dedicated flight trajectory planning method is adopted, which uses a quadratic B´ezier curve with time as the parametric variable to plan a smooth and continuous flight path. This serves as a reference for subsequent feedforward control design. Then, for the control approach, a combined control framework integrating feedforward control and feedback control is proposed. By introducing a feedforward controller based on trajectory tracking errors, the accuracy of single-missile interception can be improved.To address the problem of multi-missile interception, besides planning individual trajectories for each missile based on their respective flight paths, we also design a synchronization control approach to coordinate the interception timings of multiple missiles, ensuring they intercept the same target simultaneously.Simulation results show that, even under conditions involving model parameter uncertainties or external disturbances, the proposed control framework avoids issues arising in traditional one-to-one or many-to-one interception methods, and enhances the effectiveness of coordinated multi-missile interception. This confirms the potential feasibility and practical value of the proposed approach for future missile defense system architectures.

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