Nonlinear Sliding Mode Based Cooperative Guidance for AUVs with Multiple Constraints

The national defense systems are continuously improving and evolving, while the future combat environment is expected to become increasingly intricate. Drawing inspiration from biological clusters observed in nature, multi-agent cooperative warfare emerges as a more suitable mode of operation for modern warfare. we develop a cooperative guidance strategy for multi-AUV systems under remaining time and impact angle constraint. Firstly, we establish the kinematic model for both AUVs and the maneuvering target. Secondly, we employ a finite-time disturbance observer to approximate the maneuvering target acceleration dynamics. Then, we decouple the guidance strategy into components along and normal to the line of sight, applying a nonlinear sliding mode control approach to each component. We prove its stability and demonstrate that it guarantee all AUVs hit the target simultaneously with required impact angle. Finally, simulations in MATLAB and Gazebo validate the efficacy of presented guidance method.