Multi-Missile Cooperative Guidance Law Under Communication Delay and Topological Transformation in 3-D

For the problem of multiple missiles attack maneuvering target in 3-D, this paper designed a cooperative guidance law, which can satisfy both time and angular constraints, taking into account the communication delay and topological structure changes among missiles. Based on the relative motion model of missile and target in 3-D, for the LOS (line-of-sight) direction, the control law is designed by the multi-agent consensus theory to meet the time constraint under the communication delay and topological transformation; For the LOS normal direction, a segmented non-singular sliding model surface and the convergence law is designed by using super-twisting sliding model control to meet the angular constraint in a finite time. Finally, the effectiveness of the proposed cooperative guidance law was verified through simulation.

I. Introduction

With the ever-changing forms of modern warfare, multiple missiles on the target coordinated guided attack is gradually becoming popular. Based on optimal control, Jeon et al. [1] firstly proposed the ITCG (impact time control guidance). Thereafter, Lee et al. [2] proposed the IACG (impact angle constrained guidance) based on [1]. Zhao et al. [3] achieved a two-stage cooperative guidance against stationary targets. Tian et al. [4] designed LOS direction and LOS normal control laws in the 2-D by using integral sliding mode and adaptive super twisting sliding mode theory against maneuvering targets. Song et al. [5] designed a finite-time cooperative guidance law, which effectively achieved cooperative interception of maneuvering targets in 3-D. Jing et al. [6] followed the framework of the guidance law in [5] and used fixed time convergence theory and adaptive non-singular terminal sliding mode.