Task coupling based layered cooperative guidance: Theories and applications

Task coupling based layered cooperative guidance design and analysis issues for multiple missiles system are investigated. First, to deal with cooperative guidance problems with multiple task requirements, a task coupling based layered cooperative guidance structure is constructed by the leader layer and the follower layer. Then, for the leader missile layer, the cooperative detection guidance law is designed to achieve the coordination of the detection field of view (FOV) and cooperative interception, while providing the reference trajectories. Third, for the follower missile layer, the time-varying line of sight (LOS) angle formation tracking guidance law is proposed based on the leader missiles’ LOS angle trajectories convex combination. In addition, the design process and stability analysis of the closed-loop system are given. Finally, an equivalent experiment platform based on multiple mobile robots is introduced, which consists of two leaders, three followers, and a target is constructed. The theoretical results are verified by numerical simulation examples, and experimental results are presented on the platform.