Consensus Based Cooperative Guidance with a Leader

A cooperative guidance law for missile group with a leader is proposed in this paper. Cooperative guidance is divided into state cooperation stage and Proportional Navigation Guidance (PNG) stage with suppressed guidance command jump at switch point. State cooperation is achieved through cooperative state tracking of a leader missile, where the dynamic of guidance is linerized by adding two auxiliary state variables and a linear cooperative tracking algorithm is adopted. PNG is adopted to accomplish the cooperative impact, because state cooperation stage can not guide missiles to realize the final impact. In the linezrized guidance model, guidance command will be singular when leading angle tends to zero, which is necessary in the terminal stage of guidance.