Distributed Fixed-Time Command Recovery and Exact-Handover Cooperative Guidance With Impact Time and Angle...

This article investigates a layered cooperative guidance problem for multiple interceptors, where only a subset of interceptors has direct access to a common impact-time command, and all interceptors are required to satisfy terminal angular constraints. First, a distributed fixed-time observer is developed to recover the piecewise-constant impact-time commands available only to a subset of interceptors. Under the restart-amplitude condition and command-update timing conditions, rigorous analysis guarantees the recovery of each updated command within a user-assigned time window. Second, an exact handover mechanism is established to bridge command recovery with terminal guidance, so that recovery transients are isolated from the guidance loop while guaranteeing exact matching between the transient look-angle command and the terminal command at handover. Third, an exact-handover-compatible single-interceptor impact-time-and-angle control guidance (ITACG) law is developed for each interceptor to realize the recovered common impact-time command together with its individual terminal-angle constraint. Finally, numerical simulations validate the effectiveness of the proposed framework.