Time Coordination Guidance Law for Underactuated High-Speed Vehicles

Starting from the requirements of saturation strike missions, this paper designs a cooperative guidance law for the terminal glide phase of multiple high-speed vehicles to provide favorable initial conditions for cooperative flight during the terminal guidance phase. Firstly, a solution scheme is developed to address the issue of undetectable relative motion information during the glide phase. Secondly, a time-controllable guidance law considering field of view constraints is designed based on sliding mode control theory, improving issues of chattering and singularity. At the top level, a centralized cooperative strategy is employed, which quickly predicts the remaining flight time using variable step-size numerical integration and directly generates guidance commands based on time deviation. Finally, the effectiveness of the guidance law is verified through simulations, explaining the intrinsic mechanism of cooperative flight and expanding the application of the guidance law to scenarios involving formation transformations of high-speed vehicles.