In this article, two cooperative guidance schemes with impact angle and time constraints are proposed for multiple missiles cooperatively intercepting a maneuvering target in the presence or absence of a leader missile. First, cooperative interception with impact angle constraint is formulated based on the relative motion equation between the interceptors. Subsequently, the design of the guidance law is divided into two stages. In the first stage, based on finite-time consensus theory and the super-twisting control algorithm, the cooperative guidance law in the direction of the line of sight (LOS) is derived to control the impact time so that all missiles can simultaneously intercept the target in finite time. Then, based on finite-time sliding mode control and the super-twisting control algorithm, a finite-time convergence cooperative guidance law in the normal direction to the LOS is developed to control the intercept angle and the LOS angle rate so that each missile can accurately hit the target at a desired angle. Finally, by controlling the consensus error of flight time in the presence of a leader missile, a finite-time cooperative guidance method in the “leader–follower” scenario is derived for simultaneous arrival at the target. The proposed methods can effectively suppress chattering and ensure fast convergence in finite time. Simulation experiments are conducted to verify the effectiveness of the proposed cooperative guidance schemes.

中文翻译：

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冲击角和时间控制的有限时间合作制导策略

在本文中，针对存在或不存在前导导弹的多枚导弹协同拦截机动目标的情况，提出了两种具有冲击角和时间限制的协同制导方案。首先，基于拦截器之间的相对运动方程，建立了具有冲击角约束的协同拦截。随后，指导法的设计分为两个阶段。在第一阶段，基于有限时间共识理论和超扭曲控制算法，推导视线方向上的协同制导律，以控制撞击时间，以便所有导弹都能同时拦截导弹。在有限时间内瞄准。然后，基于有限时间滑模控制和超扭曲控制算法，提出了一种沿视线法线方向的有限时间收敛协同制导律，以控制拦截角和视线角率，从而使每枚导弹都能以所需的角度准确地击中目标。最后，通过控制在有前导导弹的情况下飞行时间的共识误差，推导了在“前导跟随”情况下的有限时间协同制导方法，以同时到达目标。所提出的方法可以有效地抑制抖动，并确保在有限时间内快速收敛。进行了仿真实验，以验证所提出的合作指导方案的有效性。通过控制在有前导导弹的情况下飞行时间的共识误差，导出了在“前导跟随”情况下的有限时间合作制导方法，以同时到达目标。所提出的方法可以有效地抑制抖动，并确保在有限时间内快速收敛。进行了仿真实验，以验证所提出的合作指导方案的有效性。通过控制在有前导导弹的情况下飞行时间的共识误差，导出了在“前导跟随”情况下的有限时间合作制导方法，以同时到达目标。所提出的方法可以有效地抑制抖动，并确保在有限时间内快速收敛。进行了仿真实验，以验证所提出的合作指导方案的有效性。