Event-Triggered Predefined-Time Cooperative Guidance Law with Impact Angle Constraint

Based on the predefined-time second-order multi-agents consensus theory, this paper presented an event-triggered cooperative guidance law aimed at the practical problem of multi-missiles attack the uniform target. The problem of time coordination involves using the relative distance and relative velocity between the missile and the target as coordination variables. This approach prevents the guidance accuracy from being affected by errors in estimating the time-to-go caused by attacking the maneuvering target. Further-more, to minimize the frequency of guidance command updates and con-serve energy, an event-triggered mechanism is implemented in the established guidance law. In the problem of impact angles constraint, a new type of predefined-time sliding mode surface is introduced, realizing the constraint of impact angle and avoid the control saturation caused by the guidance command singularity. Finally, the simulation ultimately confirm that the proposed method successfully meets the impact angle constraint requirement while executing a saturation attack, as well decreases the fuel consumption of multiple missiles.