## 1 Introduction  
Cooperative guidance is one of the key technologies for multiple missiles to attack and intercept large maneuvering targets with a high accuracy [1, 2]. The two major types of cooperative guidance technology that have been extensively studied include independent cooperative guidance and distributed cooperative guidance. Independent cooperative guidance determines the main guidance information by relying on only its own individual information, and there is no interaction of information between the missiles. The attack tasks are completed independently according to the designated guidance law and impact time before the launch. [PERSON] et al. [3] was the first to propose the guidance problem along with the impact time. After more than ten years of development, many research results have emerged in this field. Based on the combination of the optimal control and time adjustment, [PERSON] et al. [4] designed a cooperative guidance law with the impact time and angle constraints, and realized the cooperative interception based on the impact angle constraints. [PERSON] et al. [5] designed the cooperative guidance law for multiple missiles based on the terminal sliding mode control method and the principle of consistency. They obtained the line-of-sight (LOS) angle rate for all the cooperative missiles converging to zero in a finite time, and it was found that the LOS angle converged to the desired angle. [PERSON] et al. [6] proposed a cooperative guidance law based on \"leader-follower\" architecture and sliding mode control to achieve a cooperative attack with line-of-sight (LOS) angle constraints on moving targets. Based on the impact angle, a guidance law with the impact time based on the sliding mode control was designed [7, 8]. During the flight, multiple missiles exchange information with each other, \"negotiate\" together, and adjust their impact time according to a certain strategy in order to achieve simultaneous arrival and saturation attack. This is called distributed cooperative guidance. Various studies that have been conducted on distributed cooperative guidance includes the time cooperative guidance law based on bias proportional guidance, the time cooperative guidance law based on the leader-follower and the time based on switching logic. Using a weighted average consensus algorithm, a distributed time cooperative guidance law was designed [9; 10]. [PERSON] et al. [11] designed the guidance law with the impact time based on a bias proportional guidance. Assuming that each missile had the same speed, [PERSON] et al. [12] designed a time cooperative guidance law based on the 'leader-follower' model. [PERSON] et al. [13] considered the integration of the time cooperative guidance and control and studied the tracking problem of the nominal projectile distance. The guidance law with impact time constraints is a key technology in achieving saturation attack, break through anti-missile defense systems, and accomplishing reliable strikes against important strategic targets. [PERSON] et al. [14] designed a cooperative guidance law with an impact time control and field of view constraints of the seeker for the cooperative guidance of multiple missiles in attacking low-speed targets. [PERSON] et al. [15] designed the cooperative guidance law for multiple missiles to simultaneously intercept high maneuvering targets and designed the cooperative guidance law for multiple missiles based on the terminal sliding mode control method and the principle of consistency to achieve the LOS angle rate of the cooperative missiles converging to zero in a finite time. In view of the Field of View (FOV) constraints of the missiles, the terminal LOS angle constraints [16; 17; 18] were employed in the design of the cooperative guidance law, along with the impact time constraints.