Integrated guidance and control law for cooperative attack of multiple missiles

An integrated guidance and control law is developed, using the dynamic surface control theory and disturbance observation technology, for multiple missiles attacking targets cooperatively. The modeling error, aerodynamic parameters perturbation and external disturbance are regarded as system uncertainties, and then integrated guidance and control model of missile is built. Considering multiple missiles' cooperation of flight position and impact time, the constraint of maximum target look angle and the requirement of trajectory convergence, a cooperative strategy expressed by desired target look angle command is proposed. To analyze the effect of nonlinear saturation of missile control input on integrated guidance and control system, a supplementary subsystem is introduced. Three disturbance observers are designed to estimate the system uncertainties. With the signals generated by supplementary subsystem and uncertainty estimate from disturbance observers, a robust controller is designed using dynamic surface control theory to track the desired target look angle command. Based on Lyapunov stability theory and comparison principle, the stability of system under the condition of unknown uncertainties and control input saturation is proved, and the transient tracking error is also discussed. Simulation results demonstrate the effectiveness and robustness of the integrated guidance and control law.