Three-dimensional cooperative guidance with field-of-view constraints based on event-triggered mechanism

To meet the requirement for simultaneousness of multiple anti-ship missiles in attacking a ship target, this paper investigates the time-cooperative guidance problem with the event-triggered control method by considering the seeker’s field-of-view constraint. A three-dimensional time-cooperative guidance law consisting of the three-dimensional proportional navigation guidance law and an event-triggered bias term is proposed based on the three-dimensional coupled nonlinear model, and the event- event-triggering conditions are also provided. The bias term utilizes a nonlinear function to ensure that the velocity lead angle is bounded to satisfy the seeker’s field-of-view constraint and enables the impact times of multiple missiles can synchronize by means of a distributed event-triggered consensus protocol, thus reducing the frequency of cooperative control system updates and communication resource consumption. Using the Lyapunov theory, the convergence of the proposed distributed cooperative guidance law is demonstrated to have no Zeno behavior. Finally, numerical simulations are conducted to verify the effectiveness and robustness of the proposed three-dimensional cooperative guidance law.