Dynamic Event-Triggered Nonsingular Distributed Guidance for Multiple UAV Cooperative Salvo Attack with Impact-Time and Angle Constraints

Modern UAV swarm operations face strict onboard bandwidth and autonomy constraints, making simultaneous multi-target interception under limited communication a critical unsolved challenge. This paper addresses three-dimensional cooperative interception of maneuvering targets by multiple unmanned aerial vehicles (UAVs) at prescribed line-of-sight (LOS) angles under limited communication resources. In the LOS direction, a fixed-time consensus-based guidance law is designed with remaining flight time as the coordination variable, synchronizing each UAV’s impact time to a freely specified desired value with bounded gains throughout the engagement. Unlike most existing fixed-time cooperative guidance works, the consensus convergence time is rigorously proven to be strictly less than the maximum initial predicted flight time, guaranteeing impact-time agreement is reached before any UAV intercepts the target—a necessary condition for genuine simultaneous salvo attack. A dynamic event-triggered (DET) mechanism is incorporated to reduce inter-UAV communication frequency by adaptively updating the triggering threshold according to consensus state evolution. In the LOS normal directions, a piecewise nonsingular terminal sliding-mode law ensures fixed-time convergence of the LOS angle and its rate to desired values under impact-angle constraints. Fixed-time stability and Zeno-behavior exclusion are rigorously established via Lyapunov analysis. Comparative simulations against existing methods demonstrate clear advantages in impact-time accuracy, guidance smoothness, and communication efficiency.