Three-Dimensional Prescribed-Time Convergent Cooperative Integrated Guidance and Control for Multiple STT Vehicles with Terminal Angle Constraints and Actuator Faults

A cooperative integrated guidance and control (CIGC) scheme is proposed for multiple- skid-to-turn (STT) vehicles subject to terminal angle constraints and actuator faults. Following the principle of “single-vehicle design first, cooperative extension afterward”, the proposed method integrates prescribed-time sliding mode control, a prescribed-time disturbance observer, dynamic surface control, and nonlinear filtering into a unified IGC framework, ensuring prescribed-time stability of the single-vehicle closed-loop system while enhancing robustness against model uncertainties and actuator faults. Furthermore, a graph-theoretic adaptive cooperative guidance law is developed to generate the desired acceleration command, and a prescribed-time velocity controller is designed to track the command. As a result, all vehicles achieve prescribed-time consensus of the remaining flight time and coordinated arrival at the terminal point at the prescribed time. The stability of the closed-loop system is rigorously established through Lyapunov analysis. Numerical simulation results demonstrate that compared to existing methods, the proposed scheme achieves faster convergence and stronger robustness.