Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles

This paper proposes a cooperative guidance law for multiple autonomous underwater vehicles reaching a moving target, which makes it possible to hit the target from both sides at a desired impact angle. An impact angle constraint is developed to control the impact angle of the leader, meanwhile, an additional control command is constructed to control the impact time of the followers. Based on the underwater vehicle kinematics and dynamics model, the decoupled three-channel attitude controller is also considered. Numerical simulations are conducted to verify the effectiveness and performances of the proposed method.