Three-Dimensional Cooperative Game Guidance Law with Impact Angle Constraints in a Virtual Leader-Follower System

This paper proposes a three-dimensional cooperative game guidance law with impact angle constraints in a virtual leader-follower framework. The proposed method enables multiple missiles to strike the target simultaneously at the desired impact angle. To overcome challenges caused by inaccurate time-to-go estimation, relative distance and its rate of change are adopted as cooperative consistency variables. An optimal cooperative guidance strategy for the followers is developed using model predictive control (MPC), while adaptive backstepping robust sliding mode control (ABRSMC) ensures fixed-time convergence to the desired impact angle. Numerical simulations against a maneuvering target demonstrate the effectiveness and robustness of the proposed guidance law.