Cooperative Guidance law under Large Actuator Delay

This paper investigates a distributed homing guidance law for salvo attack in presence of large actuator delay. The nonlinear guidance model is initially converted to a second-order integrator system with the states of r/V and cos σ, which turns the time-to-go coordination problem to a consensus flavor. By virtue of this framework, the cooperative guidance problem under actuator delay can be addressed through an observer-based consensus algorithm with input delay. In order to further avoid the singularity issue, terminal phase using PNG law is also adopted. Numerical simulations are conducted to showcase the effectiveness of the proposed guidance method.