In this paper, considering a class of skid-to-turn (STT) missile with impact angle constraint to intercept the maneuvering target, a three-dimensional integrated guidance and control law based on the fractional integral terminal sliding mode control (FITSMC) scheme is proposed. Firstly, a three-dimensional integrated guidance and control model is established for missile-target relative motion and nonlinear missile dynamics with multiple system uncertainties and unknown disturbances. Secondly, in order to achieve the desired impact angle in finite-time without singularity, a novel nonsingular FITSMC scheme is employed to construct the sliding surface, and a modified filter is applied to dynamic surface control design. Also, an extended state observer is introduced to estimate and compensate the system uncertainties and unknown disturbances. Then, a robust integrated guidance and control scheme with impact angle constraint is developed using aforementioned techniques. Furthermore, the finite-time stability of the closed-loop system is proven based on Lyapunov theory. Finally, the effectiveness and robustness of the proposed integrated guidance and control algorithm are verified through numerical simulations.INDEX TERMS Integrated guidance and control, impact angle constraint, fractional integral terminal sliding mode control, finite-time convergence, dynamic surface control.
For the guidance problem of multiple missiles attacking a maneuvering target simultaneously in plane, a novel fixed-time distributed cooperative guidance law with impact angle constraint is designed in this paper. The design process of distributed cooperative guidance law can be roughly divided into two parts. First, based on the nonsingular terminal sliding mode control, a cooperative guidance law on the line-of-sight (LOS) direction is developed, which can guarantee that all missiles hit the maneuvering target simultaneously. Second, another guidance law in normal direction of the LOS direction is designed to achieve the fixed-time convergence of LOS angular rate and LOS angle. Finally, numerical simulations verify the effectiveness of the proposed cooperative guidance law for different engagement scenarios.
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