# Terminal Distributed Cooperative Guidance Law for Multiple UAVs Based on Consistency Theory  
[PERSON]  
1 College of Aerospace Science and Engineering, National University of Defense Technology,  
Changsha 410073, China; [EMAIL_ADDRESS] (Z.-J. ); [EMAIL_ADDRESS] (T.Y). [PERSON]  
1 College of Aerospace Science and Engineering, National University of Defense Technology,  
Changsha 410073, China; [EMAIL_ADDRESS] (Z.-J. ); [EMAIL_ADDRESS] (T.Y). [PERSON]  
2 College of Space Command, Space Engineering University, Beijing 101416, China; [EMAIL_ADDRESS] 2  
[PERSON]  
1 College of Aerospace Science and Engineering, National University of Defense Technology,  
Changsha 410073, China; [EMAIL_ADDRESS] (Z.-J. ); [EMAIL_ADDRESS] (T.Y). Footnote 1: [[https://www.mdpi.com/journal/applsci](https://www.mdpi.com/journal/applsci)]([https://www.mdpi.com/journal/applsci](https://www.mdpi.com/journal/applsci))  
Footnote 2: [[https://www.mdpi.com/journals](https://www.mdpi.com/journals)]([https://www.mdpi.com/journals](https://www.mdpi.com/journals))  
three-dimensional, and a three-dimensional impact time control cooperative guidance law satisfying the line-of-sight constraint was proposed. Refs. [12; 13] proposed a guidance law training framework based on reinforcement learning theory, which was robust to uncertainties and different parameters. The above research mainly focuses on the cooperative guidance laws for stationary targets, and there is relatively little research on the cooperative guidance laws for maneuvering targets. References [14; 15; 16; 17; 18; 19; 20; 21] study the problem of cooperative guidance for maneuvering targets, but reference [14] needs to assume that the tracking equation can meet the linearization condition of small disturbance. References [14; 15; 16; 17; 18; 19] need to assume that the direct measurement information of target acceleration can be obtained, which is usually difficult to achieve in engineering practice; although reference [20] studies the cooperative guidance of maneuvering targets, its method is centralized. The method adopted in reference [21] requires that the communication topology is undirected, which usually leads to more traffic and energy consumption. In recent years, when the terminal impact angle constraint has been considered at the same time, the impact time and angle control guidance law has gradually developed. Based on the non-singular terminal sliding mode control theory (NTSMC), a guidance law satisfying both impact time and impact angle constraints was designed in [22]. Compared with the traditional sliding mode guidance law, the proposed guidance law did not need to design the line of sight curve offline, nor did it need to switch between the impact time control guidance law and the impact angle control guidance law. In [23], an impact angle control guidance law was designed based on backstepping control method, and an impact time control guidance law was designed based on proportional guidance. The constraints of impact time and impact angle were finally satisfied by using segments. In [24], a conversion scheme was designed. When the impact time error was greater than a certain specified value, the impact time control guidance law based on sliding mode theory was adopted. When the impact time error was less than a certain fixed value, the optimal guidance law designed in [25] satisfying the impact angle constraint was adopted in order to finally realize the cooperative control of impact time and angle. In [26], the trajectory optimization problem with impact time and impact angle constraints was firstly transformed into a nonlinear trajectory planning problem, and then the Gauss pseudo-spectral method was adopted to solve the problem with the optimization objective of minimizing the total control energy. Reference [27] proposed a two-stage guidance law with auxiliary stage. By appropriately modifying the switching conditions of the two-stage guidance law with auxiliary stage, the impact time and angle can be controlled at the same time.