Three-Dimensional Cooperative Guidance Law with Nonuniform Field of View Constraints Base on Control-Barrier-Function

This paper proposes a three-dimensional cooperative guidance law with line-of-sight angle constraints, based on a control barrier Lyapunov function (CLF). The CLF-based guidance conditions are designed for each missile to ensure state consensus within the missile group. A control barrier function (CBF) approach is introduced to address non-uniform field-of-view (FOV) constraints, with two additional CBF constraints to mitigate singularity issues. By combining CLF and CBF with input constraints, a quadratic programming (QP)-based cooperative guidance law is formulated for each missile. This design eliminates the need for residual time estimation, simplifies the overall design, and avoids the singularity problems typically encountered in traditional cooperative guidance methods.