To investigate the issue of large-scale multi-missile cooperative attacks on a same target, this paper presents a three-dimensional piecewise cooperative guidance law based on smooth switching topology, realizing time consensus and impact angle constraints. Firstly, to implement the piecewise cooperative guidance law design, we establish the attack surface of the arc profile according to the expected LOS angle and the communication switching point, and obtain the virtual impact point (VIP). Secondly, a switching function is designed to ensure the smooth transition of the communication topology, mitigating the chattering issue in existing communication topology switching, while a time consensus protocol control input is implemented to facilitate the time cooperative attack of the missile in the LOS direction. Meanwhile, a fixed-time terminal sliding mode guidance law is established to guarantee the satisfaction of the impact angle constraint at the VIP. Additionally, an adaptive three-dimensional proportional navigation guidance (PNG) law is designed to guarantee zero miss distance at the real impact point (RIP). Finally, simulations involving four missiles attacking stationary targets simultaneously validate the effectiveness and superiority of the piecewise cooperative guidance law.

中文翻译：

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具有平滑切换拓扑的三维分段协同引导

针对多弹大规模协同攻击同一目标的问题，提出一种基于平滑切换拓扑的三维分段协同制导律，实现时间一致和撞击角度约束。首先，为了实现分段协同制导律设计，根据预期视距角和通信切换点建立弧形攻击面，并获得虚拟弹着点（VIP）。其次，设计了切换功能，保证通信拓扑的平滑过渡，减轻了现有通信拓扑切换中的抖振问题，同时实现了时间一致性协议控制输入，以方便导弹在LOS方向上的时间协同攻击。同时，建立固定时间终端滑模制导律，保证VIP处撞击角约束的满足。此外，还设计了自适应三维比例导航制导（PNG）法则，以保证真实落点（RIP）处的零失误距离。最后，四枚导弹同时攻击静止目标的仿真验证了分段协同制导律的有效性和优越性。