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What is Impact Time and Angle Control Guidance? 


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Impact Time and Angle Control Guidance (ITACG) is a guidance law that aims to achieve simultaneous control of impact time and impact angle in missile-target engagements. ITACG considers the coupled dynamics among velocity and normal accelerations to achieve cooperation between impact time and impact angle . It utilizes flight velocity control to achieve impact time cooperation, taking into account the coupling effects arising from normal accelerations in the longitudinal and lateral plane. For impact angle cooperation, ITACG is derived based on modified proportional navigation guidance (PNG), considering the velocity variation . The effectiveness of ITACG has been verified through mathematical simulations . Another approach, called Impact Angle Control Guidance (IACG), focuses on controlling the impact angle of the missile. Different variations of IACG have been proposed, including a predefined-time IACG law with robustness against disturbances and uncertainties , a time-dependent IACG law that shapes the look angle as a function of missile-target distance , and a modified finite-time IACG law that achieves finite-time convergence of the impact-angle error . Additionally, an optimal guidance law has been developed to minimize the change rate of pseudo-curvature, allowing for more general cases where the flight path angle may not be small throughout the entire trajectory .

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The paper proposes an impact time and angle cooperative guidance law for multiple unmanned air vehicles (UAVs) to achieve simultaneous impact time and impact angle cooperation.
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