Prescribed-time convergent cooperative guidance method with impact time and line-of-sight angle constraints

Based on the theory of prescribed-time convergence consensus, a cooperative interception guidance law for multiple flight vehicles under regional confinement constraints is designed. In the line-of-sight (LOS) direction, a prescribed-time cooperative guidance law is designed to ensure that the impact time errors and the consensus errors of impact time converge to zero, thereby causing the impact times to tend toward consistency and satisfying the requirement of simultaneous interception at a designated time. In the vertical direction of the LOS, by integrating sliding mode control, a prescribed-time convergent sliding mode surface and a guidance law with LOS angle constraints are designed to drive the LOS angle errors and LOS angular rates of each flight vehicle to zero. This enables multiple flight vehicles to intercept the target at their respective specified LOS angles, thereby meeting the desired LOS angle requirements. The designs along the LOS direction and vertical to the LOS direction enable the prescribed-time convergence cooperative guidance law to simultaneously satisfy the dual constraints of impact time and LOS angle. Theoretical analysis demonstrates that the proposed guidance method ensures multiple flight vehicles intercept the target simultaneously at the desired LOS angles. Simulation results verify the correctness and effectiveness of the proposed method.