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Biased proportional navigation with exponentially decaying error for impact angle control and path following

In this paper, a bias term to enhance proportional navigation is designed through an error signal that is a function of pursuit angles with the objective of accommodating both the problem of impact angle control against a stationary target and the problem of path following using the virtual target concept. The design leads to a second order transfer function describing the linear error dynamics contained within the nonlinear environment. The performance of the proposed guidance law is demonstrated in a comparative simulation study that also involves a well-known trajectory shaping guidance law. Straightforward to implement with no need for time to go, the technique may be utilized in various planar scenarios involving missiles or unmanned aerial vehicles.