To address the issue that multiple missiles intercepting a highly maneuvering target simultaneously with desired angles, a novel cooperative guidance law based on the decoupled model in the line-of-sight (LOS) and normal LOS direction is proposed in LOS frame. However, there is control coupling in the two directions of the cooperative guidance model. In this article, we first decouple the guidance model and then separately design estimation decouple cooperative guidance law in two directions based on the decoupled model. The guidance law component in the LOS direction is designed with the integral sliding mode control and multi-agent consensus theory, where the combining disturbance is compensated by an adaptively estimated term. The guidance law component in the normal LOS direction is designed based on nonsingular terminal sliding mode control with fast power reaching law, and a nonlinear disturbance observer is introduced to estimate the combining disturbance. Then, the finite time convergence of time-to-go and LOS angle is proved. Finally, numerical simulation results demonstrate the effectiveness and superiority of the proposed cooperative guidance law.

针对多导弹同时以所需角度拦截高机动目标的问题，提出了一种基于视距和法向视距解耦模型在视距坐标系下的新型协同制导律。但是，协同制导模型的两个方向存在控制耦合。在本文中，我们首先解耦制导模型，然后在解耦模型的基础上分别设计估计解耦的两个方向的协同制导律。LOS方向的制导律组件采用积分滑模控制和多智能体一致性理论设计，其中组合扰动通过自适应估计项进行补偿。基于具有快速功率到达律的非奇异终端滑模控制设计法向LOS方向的制导律组件，并引入非线性扰动观测器来估计组合扰动。然后，证明了剩余时间和LOS角的有限时间收敛性。最后，数值模拟结果证明了所提出的协同制导律的有效性和优越性。