自适应严格收敛非奇异终端滑模制导律

针对机动目标的末制导拦截问题，设计了一种带终端角度约束的有限时间收敛终端滑模制导律。首先，分析了现有非奇异终端滑模制导律存在的滑模面不能严格有限时间收敛的问题，进而构造了一种新型的非奇异终端滑模面。其次，设计了一种对目标机动上界的自适应估计，提出了一种自适应严格收敛非奇异终端滑模制导律的设计方法。最后，基于Lyapunov稳定性理论，证明了设计的制导律能够使得制导系统在有限时间内收敛到零，并且保证了滑模面在收敛过程中不存在非收敛因子，是严格有限时间收敛的。仿真实验验证了该制导律能够有效地拦截机动目标，同时和与现有的非奇异终端滑模制导律以及基于转换滑模面的非奇异制导律相比，拦截时间更短，终端攻击角度精度更高，导弹机动消耗的能量更少。

Adaptive nonsingular terminal sliding mode guidance law with strict convergence

A guidance law considering finite-time convergent terminal mode sliding is developed for missiles intercepting maneuvering targets with terminal angle constraints. Firstly, since the existed nonsingular terminal sliding mode guidance laws have the drawback of non-strictly convergence on the reaching phase, a new nonsingular terminal sliding mode is designed. Secondly, an adaptive law for the upper bound estimation of the target acceleration is presented and an adaptive nonsingular terminal sliding mode guidance law with strict convergence is proposed. Finally, based on Lyapunov stability theory, the guidance system can converge to zero in finite time and the sliding surface is strictly convergent without non-convergence factors by the proposed guidance law. Simulation results indicate that with the proposed guidance law, the missile can intercept the maneuvering targets effectively. Besides, a comparison between the existed nonsingular terminal sliding mode guidance law and the nonsingular guidance law based on a switching sliding mode shows that the proposed guidance law can improve the tracking precision of the desired terminal angle and reduces the interception time as well as the actuator energy for missiles.