Cooperative guidance laws with constraints on impact time and terminal angle

For the cooperative attack of multiple missiles against the targets with close-in weapon systems, cooperative guidance law was designed with impact time and angle constraints considered. Mathematical models for the guidance problem were constructed, and the design problem of the cooperative guidance law was formulated as a nonlinear optimal control problem with fixed terminal horizon and terminal state constraints. The Gauss pseudospectral method was employed to transform the optimal control problem to a nonlinear programming (NLP) problem, and solved by sequential quadratic programming (SQP) method. The predictive control method was used to implement the designed optimal guidance law. The simulation results verify the feasibility of this method.