Full State-Constrained Cooperative Guidance and Control for Multiple 6-DOF Interceptors With Self-Adjusting Prescribed Performance Under Switching Topology and Time-Varying Delay

A novel 6-DOF cooperative guidance and control law against a maneuvering target is proposed under full state constraints and non-ideal communication conditions. Taking the impact time and impact angle into account, a comprehensive integrated guidance and control (IGC) model with thrust is formulated. The user-defined flight limitations are well tackled by incorporating a nonlinear mapping function into the IGC dynamic, which brings about a fully state-constraint-free IGC model. Considering a multi-interceptor balanced system under switching topology and time-varying delay, a Lyapunov–Krasovskii function-based sufficient criterion is proposed, based on which an acceleration command in the direction of the line of sight (LOS) is generated to guarantee a simultaneous interception. The backstepping control technique combined with the fixed-time disturbance observer is implemented to formulate a robust fin deflection command in the normal direction of LOS. The overall desired transit and steady guidance performance is greatly enhanced by designing a novel prescribed performance control method with a self-adjusting mechanism. The simulation results show the effectiveness of the proposed cooperative guidance law.