A Spatio-Temporally Cooperative Guidance Law for Highly Maneuverable Target

Conventional guidance laws often exhibit difficulty in approaching highly maneuverable targets and suffer from poor robustness. To address these limitations, this paper proposes a spatio-temporally consistent cooperative guidance method based on the fully actuated system (FAS) approach. First, a cooperative guidance model incorporating the approaching-time and approaching-angle constraints is established based on kinematic and dynamic equations, subsequently transformed into an FAS formulation. Second, leveraging the backstepping design, a sliding-mode-like guidance law and an event-triggered control barrier function optimization method are designed within the FAS framework. Specifically, cooperative guidance laws are developed for the line-of-sight (LOS) radial and normal directions, respectively, tailored for approaching a highly maneuverable target. The consistent convergence properties of the proposed method are rigorously proven theoretically. Finally, the effectiveness of the proposed guidance scheme is validated through comprehensive numerical simulations.