Abstract: To solve the problem of multiple missiles attacking a maneuvering target simultaneously from desired directions in plane, a novel cooperative guidance law with line-of-sight angle constraint is proposed. A multiple missiles cooperative guidance model with line-of-sight angle constraint is constructed based on in-plane missiles-target relative motion equations. A distributed finite time cooperative guidance law in the line-of-sight direction is designed based on multi-agent system cooperative control theory and integral sliding mode control theory, which can guarantee the consensus of all missiles' impact times in finite time. In vertical direction of line-of-sight, a nonlinear disturbance observer is adopted to estimate the target's acceleration in finite time, and a guidance law with line-of-sight angle constraint is designed based on finite time sliding mode control theory. The guidance law can guarantee the missile impact the maneuvering target and the missile's line-of-sight angle converge to its desired value in finite time. The cooperative guidance law is demonstrated through simulation results, which makes multiple missiles impact the maneuvering target simultaneously from desired directions. Key

Key words: multiplemissilescooperativeguidance, finitetime, distributedcommunicationtopology, line-of-sightangleconstraint, maneuveringtarget