Three-dimensional cooperative guidance law with terminal angle constraints for maneuvering targets

This paper is based on the theory of sliding mode control, proposing a cooperative guidance law considering target maneuver and impact angle constraints in a three-dimensional environment. Initially, a cooperative interception guidance dynamic model with target acceleration is established. Subsequently, to address the issue of estimating the maneuvering target acceleration, an adaptive second-order sliding mode observer is proposed, which autonomously adjusts design parameters based on estimation errors and provides real-time compensation in the acceleration command. Furthermore, on the normal direction of the line of sight (LOS) and the LOS direction, a cooperative guidance law, which is based on a novel consistency protocol and terminal sliding mode guidance law are introduced to achieve simultaneous saturation attack on the target, ensuring finite-time con-vergence of the LOS angular rate. The finite-time stability of the designed guidance law is demonstrated through Lyapunov theory. Finally, the effectiveness of the proposed guidance law is verified through numerical simulations.