A cooperative guidance law for multiple missiles to intercept maneuvering target

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.