Integrated guidance and control with impact angle and general field-of-view constraints

This paper investigates the problem of integrated guidance and control (IGC) law design with impact angle and general field-of-view (FOV) constraints. Firstly, the IGC model for intercepting non-maneuvering moving target is parameterized by state-dependent coefficient matrices. The nominal IGC law for intercepting the target with the desired impact angle is obtained by solving the state-dependent Riccati equation. Secondly, since the relative degrees of the general FOV constraints with respect to the IGC model exceed one, the high-order control barrier functions are constructed. The satisfaction of the FOV constraints is equivalent to ensuring that the superlevel sets defined by the barrier functions are forward invariant, which is converted into affine constraints on the control input. The nominal IGC law is modified in a minimally invasive way by quadratic programming. Then, the proposed method is extended to the case of intercepting maneuvering target by leveraging a relative coordinate frame. Finally, numerical simulations are conducted to verify the effectiveness of the proposed method.