3D path planning C-W equations LOS angle rate SHADE algorithm T-MPSP UAV active protection adaptive adaptive disturbance rejection control adaptive margin model adaptive non-uniform discretization aircraft/engine integration collision course cone complementary linearization control constraints cooperative guidance cubature Kalman filter extended kalman filter fault tolerant feasibility guarantee finite-time contractive stability fixed-time convergence guidance law hypersonic entry hypersonic vehicle impact angle constraint impact time constraint improved sequential convexification maneuvering target method of multipliers