Three-Dimensional Cooperative Game Guidance Law for a Leader–Follower System With Impact Angles Constraint

Cooperative guidance issues with desired impact angles against a target are studied in a leader–follower system in this article. Different from the existing achievements, the attackers and the target are modeled as the participants of a pursuit-evasion game in the cooperative guidance scenario. Specifically, the leader's differential game guidance law is first formulated by using optimal control theory, while the cooperative guidance law of the follower is designed to ensure the simultaneous attack on the target with the desired impact angles by using model predictive control (MPC) and robust sliding mode control. Compared to methods using time-to-go as the consensus variable, the proposed guidance law has the potential to achieve higher performance. Simulation validation shows that simultaneous attacks can be accomplished at the desired impact angles for different targets with stationary, classical maneuvers, and game maneuvers.