Impact Angle Constrained Cooperative Guidance Law for Multiple Missiles With Nonuniform Field-Of-View Limit

Considering the simultaneous attack problem of multiple missiles against a stationary target, a two stage cooperative guidance strategy under nonuniform field-of-view (FOV) and impact angle constraints is proposed in this paper. Firstly, the FOV constraints are translated into different inequality constrains based on control barrier function (CBF). Subsequently, by designing switching logic, the cooperative guidance converts to the second stage, where a trajectory shaping function on impact angle error is proposed for each missile. Furthermore, the convergence of the guidance strategy is substantiated by utilizing the Lyapunov theory. Finally, numerical simulation results are presented to demonstrate the effectiveness of the proposed cooperative guidance strategy.