Three-Dimensional Cooperative Guidance Law With Impact Angle Constrained Based On Fixed-Time Convergent Error Dynamics

In this paper, three-dimensional cooperative guidance laws against stationary target are designed with both impact time and angle control. The guidance commands consist of tangential acceleration along line-of-sight (LOS) direction and normal acceleration perpendicular to LOS direction. First, the fixed-time convergent error dynamics is proposed, and the convergence time of error is related to the end time of the system. Subsequently, a fixed-time consensus protocol for multi-agent system is proposed based on the above fixed-time convergent error dynamics. Then, tangential acceleration command is designed based on the above consensus protocol. Moreover, normal acceleration commands are designed based on the predefined time global sliding mode face. The stability and convergence of the proposed cooperative guidance laws are rigorously proved. Finally, simulations are conducted to verify the effectiveness of the proposed guidance laws.