Three-Dimensional Prescribed-Time Pinning Group Cooperative Guidance Law

Algorithm 1

Design steps of local guidance law.

Input: state variables of the -th missile and its neighbours, convergence time , group topology and pinning scheme

Output: normal accelerations of the -th missile in yaw and pitch directions

1. Initialize with initial state of the -th missile and user prescribed state

2. When, utilize first-stage cooperative guidance law

3. If switch to the second stage in Step 7.

4. Else

5. Gather information of the -th missile and its neighbours through network

6. Generate the guidance law in Equation (19) with designed gains and ensure the existence of the other virtual parameters.

7. When, utilize second-stage individual PPN guidance law in Equation (3) with navigation gain

8. End