Cooperative Guidance Law With Impact Angle Constraint for a Multi-Leader-Multi-Follower System: A Nash Game Approach

In this paper, a cooperative guidance law is put forward for the multi-leader-multi-follower system with impact angle constraint. First, the multi-leader guidance without central coordination is described as a Nash game problem. Under the unwanted influence caused by guidance uncertainties, we use a certain upper bound of the Nash cost function to replace the original one. Then, the so-called near-optimal Nash guidance law for the multi-leader is obtained by using the Riccati-like differential equation. Second, to achieve a salvo attack by the followers in the same group of one leader, a guidance law for the follower along the line-of-sight (LOS) is provided by using the appointed-time sliding mode control method. Third, in the normal LOS direction of the follower, a finite-time super-twisting sliding mode guidance law is designed to ensure that the follower converge to the desired impact angle within a finite time. In the end, numerical simulations validate the effectiveness of the proposed guidance laws.