Multi-missile cooperative guidance law under communication delay and topological transformation in 3-D

For the problem of multiple missiles attack maneuvering target in 3-D, this paper designed a cooperative guidance law, which can satisfy both time and angular constraints, taking into account the communication delay and topological structure changes among missiles. Based on the relative motion model of missile and target in 3-D, for the LOS (line-of-sight) direction, the control law is designed by the multi-agent consensus theory to meet the time constraint under the communication delay and topological transformation; For the LOS normal direction, a segmented non-singular sliding model surface and the convergence law is designed by using super-twisting sliding model control to meet the angular constraint in a finite time. Finally, the effectiveness of the proposed cooperative guidance law was verified through simulation.