带碰撞角约束的三维有限时间滑模制导律

针对导弹对地面静止目标的打击问题，提出了一种三维有限时间滑模制导律。利用Lyapunov方法证明了该制导律能够控制导弹以期望的纵向和侧向碰撞角对目标进行精确打击。该方法具有以下4点优势：无需对系统模型作解耦或线性化处理，可以同时对纵向和侧向碰撞角进行约束，可以得到解析的制导指令，闭环系统对外部扰动和参数不确定性具有不敏感特性。仿真结果验证了该制导方法能够保证较高的终端精度和较强的鲁棒性。

Finite-time sliding mode control based 3D guidance law with impact angle constraints

To deal with the guidance problem of missile for intercepting ground fixed targets,a three-di-mensional finite-time sliding mode control based guidance law is proposed in this paper.It is proved by the Lyapunov theory that the guidance law can steer the missile to intercept target with the desired impact angles in both azimuth and elevation.The guidance law has four advantages.First,model decoupling or model linear-ization is not needed in this work;second,the impact angles in both longitudinal and horizontal can be con-troled;third,the guidance command can be analytically derived;fourth,the closed-loop system is insensitive to external disturbance as well as parameter uncertainty.The simulation results show that high terminal accura-cy and good robustness can be achieved by the proposed guidance law.