Three-dimensional impact-angle-constrained fixed-time cooperative guidance algorithm with adjustable impact time

Abstract

To address the problem wherein multiple missiles attack a target simultaneously in a three-dimensional space at an adjustable impact time and expected impact angles, this paper investigates a leader-following fixed-time cooperative guidance algorithm based on the three-dimensional nonlinear cooperative guidance model. First, in the leader's line-of-sight direction, the fixed-time convergence theory is introduced, and an impact time-controlled guidance algorithm is proposed so that the leader can accurately attack the target at any prespecified impact time. Then, in the line-of-sight direction of the followers, by utilizing the designed consensus error function and the fixed-time convergence theory, a time consensus tracking algorithm is investigated, which makes full use of the information interaction between missiles, and can achieve a rapid convergence of the time-to-go of the leader and followers within a fixed time. Next, in the normal and lateral directions to the line-of-sight, an innovative three-dimensional impact-angle-constrained guidance algorithm is designed by utilizing integral global sliding mode control technique, enabling the flexibility of guidance performance design. Meanwhile, during the design process of the impact-angle-constrained guidance algorithm, it eliminates the reaching phase of the traditional terminal sliding mode, lessens the energy consumption, and avoids the singularity phenomenon directly. In addition, the stability of the proposed algorithms is rigorously proved. Finally, numerical simulation demonstrates the effectiveness and superiority of the proposed guidance algorithm.