This research presents a novel approach called 'Time-to-target-based multi-missile spatio-temporal cooperative guidance' This approach enables the simultaneous guidance of multiple missiles, allowing them to intercept a maneuvering target from different terminal intercept angles to maximize damage. The article introduces a finite-time optimal cooperative guidance technique to reduce the load on missile engines in the line-of-sight (LOS) direction. It proposes a time-varying sliding mode guidance scheme, which is parameterized by the remaining flight time, for both longitudinal and lateral LOS directions. The scheme helps prevent excessive initial acceleration in the longitudinal and lateral LOS directions while ensuring intercept angle constraints. The time-varying cooperative guidance law proposed in this study enables the simultaneous interception of a maneuvering target with different terminal intercept angles at the moment of terminal intercept. The numerical simulation results indicate that the multi-missile spatio-temporal cooperative guidance method is effective, superior, and robust. The method enables multiple missiles to achieve the minimum acceptable intercept distance at different terminal intercept angles while optimizing fuel in the LOS direction.
