Approach angle constrained and varying speed cooperative guidance against maneuvering targets

This paper addresses the three-dimensional (3-D) approach angle constrained cooperative guidance problem for speed-varying missiles against maneuvering targets. First, the guidance problem is formulated in a relative reference frame and a virtual control input is selected. Then, the cooperative guidance law is designed on the basis of a prediction-correction framework. The time-to-go under the baseline command is estimated by an efficient prediction method with a realistic aerodynamic model and a biased command is developed by utilizing the time-to-go predictions for synchronizing different missiles' impact times. The design of the biased command is decoupled into the individual design of its direction and magnitude. It is proved that the designed cooperative guidance law can make the time-to-go consensus error converge to zero before interception. Finally, the designed guidance law is validated through a series of numerical simulations.