Abstract
In order to achieve the precise attack of multiple underwater intelligent vehicles (UIVs) on the same target ship at a fixed impact time, and to improve the penetration capability of the UIVs themselves, this study investigated the guidance law for the time-cooperative guidance of UIVs with maneuvering evasion. The evasive maneuver of the UIV increases the line-of-sight angle between the UIV and the target, which decreases the guidance precision of the UIV. A segmented control strategy is proposed to solve the problem of decreasing guidance precision caused by evading maneuvers, which is also the main contribution of this paper. This control strategy is dividing the guidance trajectory into two segments. The first segment allows for intelligent underwater vehicles to make evasion maneuvers and penetrate the defense, while the second segment controls the terminal time and achieves precision strike. Different desired target-vehicle distances are designed for each segment, unifying the impact time control issue and evasion maneuver problem into the pursuit of desired target-vehicle distances. Finally, based on feedback linearization control theory, a time-cooperative guidance law with evasion maneuver capability is proposed. Simulation results validate the effectiveness of the proposed method in attacking-moving targets.