Three-dimensional cooperative guidance and control law for multiple reentry missiles with time-varying velocities

A three-dimensional partial integrated guidance and control law is proposed for cooperative flight of multiple hypersonic reentry missiles with uncontrollable and time-varying velocities. As for the problem of multiply reentry missiles with varying velocities attacking the target synchronously, a cooperative scheme is presented by adjusting the lateral pre-setting angle of velocity. In addition, a partial integrated guidance and control method with a two-loop controller structure is designed to realize the proposed cooperative scheme. Considering the saturation of the velocity slope angle and the unknown uncertainty, the two-loop three-channel controller of each reentry missile is designed based on dynamic inverse theory, dynamic surface control theory and extended state observer. The stability of the closed-loop system is demonstrated by Lyapunov theory. Simulation results verify the effectiveness and superiority of the proposed guidance and control law.