Cooperative Guidance Law for Multiple Aerial Vehicles Considering Impact Angle Constraints

A cooperative guidance law for multiple aerial vehicles considering impact angle constraints is designed to address the problem of multiple aerial vehicles reaching the target point simultaneously with a desired impact angle. First, by analyzing the aerial vehicle’s motion characteristics relative to the target, the equations describing its movement with respect to the target are established. Next, according to finite-time consensus theory and graph theory, a guidance command is designed along the line-of-sight (LOS) direction between the aerial vehicles and the target to ensure that the relative distances of multiple aerial vehicles to the target reach consensus within a finite time, thereby guaranteeing their simultaneous arrival at the target. Additionally, according to sliding mode control theory, a guidance command is designed in the LOS-normal direction to ensure that each aerial vehicle reaches the target point with the desired impact angle. Finally, simulations on a scenario where three aerial vehicles simultaneously reach the target point with the desired impact angles and velocities validate the correctness of the formulated method, demonstrating its ability to enhance the efficiency and effectiveness of aerial vehicle mission execution.