Cooperative Guidance Law With Impact Angle Constraint for a Multi‐Leader‐Multi‐Follower System: A Nash Game Approach

In this paper, a cooperative guidance law is put forward for the multi‐leader‐multi‐follower system with impact angle constraint. First, the multi‐leader guidance without central coordination is described as a Nash game problem. Under the unwanted influence caused by guidance uncertainties, we use a certain upper bound of the Nash cost function to replace the original one. Then, the so‐called near‐optimal Nash guidance law for the multi‐leader is obtained by using the Riccati‐like differential equation. Second, to achieve a salvo attack by the followers in the same group of one leader, a guidance law for the follower along the line‐of‐sight (LOS) is provided by using the appointed‐time sliding mode control method. Third, in the normal LOS direction of the follower, a finite‐time super‐twisting sliding mode guidance law is designed to ensure that the follower converge to the desired impact angle within a finite time. In the end, numerical simulations validate the effectiveness of the proposed guidance laws.