Distributed Cooperative Guidance Law with Both Impact Time and Angle Control

Aiming at the problem of how to control the impact time and angle of missile simultaneously in multi-missile cooperation to achieve a saturated attack on a target, a distributed cooperative guidance law was proposed based on the leader–follower model. Firstly, the guidance geometry and the relative motion equations were established. Secondly, the cooperative guidance strategy of PNG and distributed cooperative guidance was adopted based on the consensus algorithm. The modified component of PNG and tangential acceleration were derived to control the impact time and angle of the missile cluster. Finally, simulation results demonstrate the effectiveness of the designed method. The guidance law has the merits of no center node, applicable to missiles with unsteady velocity, concise analytical expression, and low communication cost.