Multiple missiles cooperative guidance with simultaneous attack requirement under directed topologies

To solve the problem of multiple missiles under directed communication topologies attacking a stationary target simultaneously in desired relative line-of-sight (LOS) directions in plane, a cooperative guidance law with two components in the LOS frame for multiple missiles is proposed. Based on missiles-target relative motion equations in plane, a time and space cooperative guidance model of multiple missiles is constructed. Based on multi-agent cooperative control theory, in LOS direction, one distributed time-cooperative guidance law is designed, which can guarantee all missiles' impact times achieve consensus asymptotically. In vertical direction of LOS, one distributed space cooperative guidance law is designed, which can guarantee missiles' relative LOS angles converge to desired values asymptotically. Numerical simulations demonstrate that the proposed cooperative guidance law can make multiple missiles attack the target simultaneously in desired relative LOS directions.