Collision avoidance multi-missile distributed cooperative guidance and control

A cooperative guidance law with collision avoidance and the realization scheme for a group of coordinated missiles attacking a maneuvering target in three-dimensional space are proposed. Based on the measurable information, the target is regarded as a leader in forming the"leader-follower"topological structure with all attacking missiles. A network synchronization algorithm is designed for coordinating the attack. To realize the collision avoidance, the synchronization algorithm with a safe distance is adopted when the missiles and the target are far apart. The safe distance is then eliminated when they become close. Based on the kinematic relations, cooperative guidance commands are transformed into commands of velocity, flight path angle and flight heading angle. In dealing with the tracking problem for these commands, we propose a disturbance rejection dynamic surface control scheme based on the improved differentiator which accurately estimates the total disturbance including the parameter uncertainty and the external disturbance. The simulation results show the precise tracking performance of the proposed controller and the complete realization of the collision avoidance cooperative attack.