Abstract: First, if it is assumed that each missile has the same constant velocity, then the leader-missile (“the leader” for short) is guided by the conventional proportional navigation guidance (PNG), and the led-missile (“the follower” for short) is guided by a combination of the conventional PNG and a maneuver control. The model for the design of time-cooperative control of multi-missiles using the leader-follower strategy is derived. This model represents in essence a nonlinear state tracking control system of the motion of the missile relative to the target, in which the range-to-go and the heading error angle of the leader relative to the line of sight are selected as two reference state variables, and those of the follower as two controlled state variables. For this system, the time-scale separation method is used to design both the desired slow and fast sub-systems. Nonlineardynamic inversion controllers are designed for the two sub-systems respectively and the maneuver command for the follower is derived. This maneuver command is used to adjust the state variables of the motion of the follower relative to the target to approach that of the leader, which guarantees that all the missiles can attack the target simultaneously. Then, for each follower, a virtualleader with the same velocity is introduced. Thus, the above strategy is extended to the case where each missile can have a different constant velocity. Simulation results show the validity of the proposed approach.

Key words: guidance, nonlinear control systems, cooperative control, proportional navigation guidance, leader-follower, virtual leader, impact time