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The cooperative interception problem of multiple heterogeneous missiles with low maneuverability against highly maneuvering target is studied in this paper. Firstly, the reachable area of the missiles and the escape area of the target are analyzed. The form of the guidance law based on the coverage-based cooperative interception strategy and the standard ballistic design method is given. Secondly, the algorithm for realizing the coverage distribution of multiple heterogeneous missiles is proposed. The parameter design of the cooperative guidance law and the conditions that the initial position of the missiles and target need to meet are derived. Thirdly, the number of heterogeneous missiles required to complete the coverage is calculated by numerical solution. The initial position and the guidance law parameters of each missile are given. Finally, it is verified by simulation examples that multiple heterogeneous missiles with low maneuverability can achieve cooperative interception against highly maneuvering target through the reasonable configuration of the initial interception position and the reasonable design of the cooperative interception guidance law.

Time-varying formation tracking of multiple surface vessels system is considered. Firstly, the interaction topology and the time-varying formations of multiple surface vessels are established based on algebraic graph theory. Secondly, the cubic spline interpolation method is used to obtain the desired trajectory when only several path points are given. Thirdly, for leader ship, trajectory tracking control law of outer loop and robust attitude tracking law of inner loop are designed based on the idea of virtual leader. Fourthly, for multiple follower vessels, a distributed time-varying formation tracking control law using only neighboring relative information is designed in the outer loop, and a robust attitude tracking law is designed in the inner loop. In attitude tracking, sliding mode control method is utilized to control the course angle and navigation speed, which eliminates the influence of model parameter perturbation and external disturbances such as wind, wave and current in vessel motion. Finally, numerical simulation results are given to confirm the effectiveness of the acquired theories.