Cooperative guidance law for multiple missiles with impact angle constraints

To solve the problem in multiple missiles attacking a maneuvering target simultaneously, a novel cooperative guidance law with impact angle constraints is proposed. At first, based on missile-target relative motion equation in plane, the cooperative guidance model with impact angle constraints is constructed. Then, the process of cooperative guidance law design is divided into two parts. In the first part, with the use of the graph and finite-time consensus theory, the acceleration command on the LOS direction is developed to guarantee that all relative distances from the missile to the target reach the agreement in finite time, and all missiles reach the maneuvering target simultaneously. In the second part, based on the sliding mode control and the non-homogeneous disturbance observer employed to estimate the acceleration of the maneuvering target, the acceleration command along the normal direction of the line-of-sight (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. Thus every missile can successfully hit the target with the desired terminal LOS angle. Finally, simulation results for the interception scenario of three missiles intercepting a maneuvering target are provided, which demonstrate the effectiveness and superiority of the proposed cooperative guidance law with impact angle constraints.