Time-Cooperative Guidance Law for Multiple UAVs with Angle Constraints

In order to improve the penetration and strike capability of unmanned aerial vehicles (UAVs), a cooperative guidance law is presented for multiple UAVs attacks on the same maneuvering target. Firstly, based on the finite-time consistency convergence theory, a multiple UAVs time cooperative guidance law is designed, the guidance law is not bound by the end time, which enhances the anti-interference ability during the guidance period. Secondly, based on the sliding mode variable structure control theory, the guidance law of multiple UAVs attack angle constraint is designed; the guidance law is optimized according to the quasi- sliding mode control, which weakens the chattering of the sliding mode. Finally, the simulation verifies the effectiveness of the designed guidance law.