A three-dimensional cooperative guidance law based on consensus theory for maneuvering targets

In this paper, a cooperative guidance law based on consensus theory is proposed for multiple flight vehicles against a maneuvering target in a three-dimensional plane. The proposed guidance law has three orientation components: the one along the line-of-sight (LOS) ensures that all flight vehicles reach the target simultaneously, and the other two normal to the LOS in longitudinal and lateral plane guarantee the accurate interception. The target maneuverings are estimated by a finite-time convergence disturbance observer (FTDOB) and are compensated into the kinematic equation to achieve more accurate interception. Using the Lyapunov stability theorem, time-to-go of all flight vehicles' convergence is proved. Mathematical simulations verify the effectiveness of the proposed cooperative guidance law.