Analytic Solution for Nonlinear Impact-Angle Guidance Law with Time-Varying Thrust

This paper presents an impact-angle guidance law of unmanned aerial vehicles (UAVs) with time-varying thrust in a boosting phase. Most current research on impact-angle guidance law assumes that UAV speed is constant in terms of controlled thrust. However, the UAV speed and the acceleration in a boosting phase keep changing because of time-varying thrust. Environmental factors and manufacturing process error may prohibit accurately predicting vehicle-thrust profiles. We propose a nonlinear impact-angle guidance law by analytically solving second-order error dynamics with nonlinear time-varying coefficients. The proposed analytic solution enables one to update guidance gains according to initial and current states so that desired impact angle is met while the miss-distance error is reduced. We prove the finite-time error convergence of the proposed guidance law with the Lyapunov stability theory. Various simulation studies are performed to verify the proposed guidance law.