IntroductionThedesignofcooperativeguidancelawswithattackangleandtimeconstraintsisacriticalresearchareainmodernmissileguidanceandcontrolsystems.Theseadvancedguidancestrategiesaimtocoordinatemultiplemissilestosimultaneouslyinterceptatargetwhilesatisfyingspecificterminalattackanglesandtime-of-arrivalrequirements.Suchconstraintsenhancemissioneffectivenessbyensuringoptimalimpactconditionsandsynchronizedstrikes,whichareparticularlyvaluableinscenariosinvolvingheavilydefendedorhigh-valuetargets.Recentstudieshaveexploredvariousapproaches,includingoptimalcontroltheory,consensusalgorithms,anddistributedcooperativeguidanceframeworks,toaddressthechallengesofmulti-missilecoordinationundercomplexconstraints.Keyconsiderationsincluderobustnessagainstuncertainties,real-timeadaptability,andcomputationalefficiency.Thispaperreviewsthelatestdevelopmentsincooperativeguidancelawdesign,focusingonmethodsthatintegrateattackangleandtimeconstraints,anddiscussestheirapplications,advantages,andremainingchallenges.
