三维自适应终端滑模协同制导律

针对多枚导弹协同作战的问题，且多枚导弹之间保持有向拓扑通信的条件下，基于终端滑模法设计了视线方向及视线法向的双层协同制导律。其中，视线方向的制导指令能够保证导弹同时完成拦截任务；视线法向上的三维制导律能够保证每枚导弹以期望的视线角攻击目标，从而发挥各枚导弹的最大杀伤力，并且视线角的约束相当于规划了末制导段导弹的弹道问题，在一定程度上避免攻击目标前导弹间发生碰撞。同时，针对所设计的滑模制导律设计了新的自适应律，从而加快了滑模面的收敛速度并且削弱了由符号函数引起的系统抖振现象。基于李雅普诺夫稳定性理论，证明了所设计制导律的正确性，并在最后给出了数学仿真实验，验证了所设计制导律的有效性及优越性。

Three dimensional guidance law for cooperative operation based on adaptive terminal sliding mode

Aiming at the problem of multi-missile cooperative operation and the directed topological communication between multi-missiles, a dual-layer cooperative guidance law based on the terminal sliding mode method is designed. The guidance command of line-of-sight direction can guarantee multiple-missile attacking the target at the same time. The three-dimensional guidance law normal to line-of-sight can ensure that each missile attacks the target at the desired line-of-sight angles, so as to exert the maximum lethality of each missile. Moreover, the constraint of line-of-sight angles is equivalent to the trajectory planning for the ballistic problem of the missile, which can avoid the collision between the missiles before attacking the target to some extent. At the same time, new adaptive laws are designed for the designed sliding mode guidance laws, accelerating the convergence speed of the sliding mode surface and attenuating the chattering phenomenon caused by the symbolic function. Based on the Lyapunov stability theory, the correctness of the guidance law is proved. Finally, a mathematical simulation experiment is conducted to verify the effectiveness and the superiority of the proposed guidance law.