Spatial–temporal cooperative guidance with no-fly zones avoidance

This paper proposes a three-dimensional spatial–temporal cooperative guidance law for striking maneuvering targets, with consideration of no-fly zones avoidance. A fixed-time convergent integral sliding mode guidance law based on a second-order system consensus protocol is proposed to ensure the consistency of the remaining distance and radial relative velocity, instead of using estimates of time-to-go based on small angle assumptions. In the elevation and azimuth directions, to mitigate excessive guidance commands during the initial phase, a nonlinear sliding surface and a finite-time reaching law are designed to meet impact angle constraints. In addition, considering the stagnation points escape in the process of no-fly zones avoidance an integrated cooperation and obstacle avoidance guidance law is proposed, which effectively avoids no-fly zones, accelerates the convergence speed of cooperative consistency, and reduces terminal errors. Using Lyapunov’s theory, this paper theoretically proves the fixed-time and finite-time convergence characteristics of the proposed algorithm. Simulation results indicate that the miss distance and terminal elevation and azimuth angle errors of the proposed algorithm are 55.04%, 27.5%, and 81.75% of those of the comparison algorithm, respectively.