Three-dimensional consensus algorithm for nonsingular distributed cooperative guidance strategy

This study proposes two nonsingular distributed cooperative guidance strategies to solve the problem of the three-dimensional (3D) cooperative guidance of multiple interceptors attacking a stationary target. The cooperative 3D nonlinear engagement kinematics is first formulated. We then derive guidance commands based on two expressions of the time-to-go estimate by using a combination of the multi-agent consensus algorithm and the nonsingular guidance law, where they are presented without the assumption of a small lead angle. An additional component of the guidance command is investigated to prevent the Lyapunov function from becoming negative semi-definite, and the finite-time stability of the consensus error is guaranteed. Following the convergence of the consensus error, the stability of the lead angle is presented without confining the control parameter. By using the proposed strategies, multiple interceptors can attack the target simultaneously, and the impact time is determined during engagement. A number of simulation scenarios are considered to verify the effectiveness of the proposed control strategies.