Finite-time Cooperative Guidance Laws of Impact Time and Angle with Input Saturation Constraint

For cruise missiles, this paper discusses finite-time spatiotemporal cooperative guidance with input saturation constraints. In order to improve the robustness, the method of distributed cooperative control is used. Based on the finite-time consensus theory, the longitudinal cooperative guidance instructions are derived to ensure that all of the missiles are able to attack the target at the same time in the line-of-sight (LOS) direction. An asymmetric saturation function is used to describe the input of the guidance system to satisfy the input saturation constraint. The normal cooperative guidance is derived to ensure missiles can attack at expected impact angles in the normal direction of the LOS. Also, the stability of the collaborative control has been demonstrated. Finally, the performance and correctness of the presented method are verified by simulation experiments.