Cooperative Guidance for Maneuvering Penetration with Attack Time Consensus and Bounded Input

Aiming at the problem of single-missile maneuver penetration in the process of multi-missile cooperative precision strike on the ground, this paper proposes a cooperative maneuver penetration guidance law based on line deviation control, which not only realizes the consistent attack time but also improves the penetration capability of single-missile through spiral maneuver while considering the overload constraints. Firstly, the concept of line deviation control is established, based on which the missile’s maneuvering penetration trajectory is decomposed into a virtual guided trajectory and a relative maneuvering trajectory; secondly, a time-coordinated guidance law is designed for the virtual guided trajectory; and thirdly, based on the establishment of the line deviation command, the relative spiral maneuvering trajectory and the guidance law under the overload constraint are proposed. In this paper, the state constraints and interference estimation are realized by using command filter and expanded state observer(ESO), and the stability of the system is proved based on Lyapunov stability theorem, and finally, the numerical simulation results prove the validity of the proposed cooperative maneuvering surprise guidance scheme.