Cooperative Guidance Law with Guaranteed Convergence for Multiple Missiles

A cooperative guidance law with guaranteed convergence is proposed in this paper. First, the guidance law is derived based on the biased proportional navigation guidance (PNG) approach by applying the finite-time stability theory. Then, an auxiliary function is designed and inserted into the biased term to address the singularity issue. The biased term makes that the relative time-to-go errors decrease to zero before interception. After the convergence of errors, the guidance command converts to the PNG law to achieve the salvo attack. Furthermore, the closed-loop stability and the explicit settling time of the consensus error are discussed in the framework of Lyapunov analysis. The proposed design guarantees that the times-to-go of missile group can reach consensus before interception under different initial conditions. Thus, the proposed design is adaptive with no need to reselect the parameters for different scenarios. Finally, numerical simulations are provided to verify the designed cooperative guidance law.