Three-dimensional cooperative guidance law for multiple missiles with impact angle constraint

This paper proposes a cooperative guidance law for attacking a ground target with the impact angle constraint based on the motion camouflage strategy in the line-of-sight (LOS) frame. A dynamic model with the impact angle constraint is established according to the relative motion between multiple missiles and the target. The process of cooperative guidance law design is divided into two stages. Firstly, based on the undirected graph theory, a new finite-time consensus protocol on the LOS direction is derived to guarantee relative distances reach consensus. And the value of acceleration command is positive, which is beneficial for engineering realization. Secondly, the acceleration command on the normal direction of the LOS is designed based on motion camouflage and finite-time convergence, which can ensure the missiles reach the target with the desired angle and satisfy the motion camouflage state. The finite time stability analysis is proved by the Lyapunov theory. Numerical simulations for stationary and maneuver targets have demonstrated the effectiveness of the cooperative guidance law proposed.