A Guidance Law for Cooperative Attack of Multi-UAVs with Spatio-Temporal Constraints

Considering the velocity controllable dynamic characteristics of UAV, taking the velocity as the input of impact time control, this paper studies the multiple UAVs impact angle and time cooperative guidance method. Firstly, the single UAV impact angle controllable model and impact time cooperative control model are established. Secondly, the inclination angle and deflection angle of line of sight (LOS) controllable guide law and velocity cooperative control law are designed by using nonsingular fast terminal sliding mode control theory and consistency theory respectively. Finally, the extended state observer (ESO) is used to solve the problem of accurate control of swarm impact time under disturbance, and the expected time reference signal is introduced to achieve high-velocity simultaneous arrival of UAV swarm. The simulation results show that the proposed guidance laws can make the impact angle and time of UAV swarm converge to the expected value in a finite time. The introduced ESO can accurately estimate and compensate the external disturbance, and effectively enhance the robustness of impact time cooperative control.