三维攻击角度约束部分制导控制一体化设计

针对侧滑转弯(STT)导弹带有攻击角度约束的机动目标拦截问题，提出一种基于自适应终端滑模动态面控制的三维部分制导控制一体化(PIGC)设计方法。首先，建立了针对机动目标拦截的侧滑转弯导弹三维部分制导控制一体化设计模型，且不需要导弹速度微分体轴系分量信息。然后，使用终端滑模控制理论构建误差向量与虚拟控制量，达成精确拦截与攻击角度约束的控制目的；引入有限时间非线性收敛扩张状态观测器(ESO)来在线估计系统不确定性；设计自适应算子与自适应更新律对观测器的估计误差进行补偿，以提高方法的鲁棒性。最后，三维空间拦截仿真校验了方法在提高拦截精度与增强角度约束收敛性能的有效性。

Three Dimensional Partial Integrated Guidance and Control with Impact Angle Constraints

To implement the interception of a maneuvering target for a skid-to-turn (STT) missile, a three-dimensional partial integrated guidance and control (PIGC) with impact angle constraints is developed based on the adaptive terminal sliding mode dynamic surface control. Firstly, the PIGC model with strict-feedback form of an STT missile is established without the information of the missile velocity derivatives vector along the body frame. Then, the PIGC design is proposed based on the dynamic surface control procedure for the design model. Based on terminal sliding mode theory, the error vector of the method is constructed as the terminal sliding surface and used in the design of the virtual control law to guarantee the precise interception with the impact angle constraints. The nonlinear extended state observers (ESO) with finite time convergence are introduced to estimate the uncertainties in system. Additionally, the adaptive operators are designed to compensate the estimate errors of ESO to increase the robustness against uncertainties. Fiually, simulation results demonstrate the effectiveness of the proposed method.