Abstract：Multi-agent-based cooperative guidance usually uses particle acceleration as a control input. This model is not compatible with tactical missiles that usually perform unpowered flight in the terminal guidance phase. In this paper, under the leaderfollower missile formation structure, firstly, a distributed nonlinear cooperative guidance law design model for the second-order line-of-sight angle of the target-missile with rudder deflection angle as input is established; secondly, based on sliding mode control and disturbance observer, a finite-time guidance law of the leader missile with line-of-sight angle constraint for the precise strike of the moving target is designed. Thirdly, a distributed discontinuous cooperative guidance law is proposed for the follower missiles, and the adaptive law of its parameters is given. The system stability is proved by Lyapunov theory. Mathematical simulation results show that the method designed in this paper can achieve the consistency of the follower-target LOS angle and the leader-target LOS angle, and finally achieve a precise and coordinated attack on the moving target.
