Three-Dimensional Impact Angle Constrained Partial Integrated Guidance and Control With Finite-Time Convergence

A 3-D impact angle constrained partial integrated guidance and control design with finite-time convergence is developed for a surface-to-air skid-to-turn missile intercepting a head-on maneuvering target. First, fully considering coupling among three channels and roll dynamics of missile, a new 3-D design model of partial integrated guidance and control is established with less assumption. Two assumptions that the components of missile velocity derivatives along body frame are available and the missile is roll-stabilized at constant roll attitude are removed to extend the applicable scope of the model. Then, based on the modified filter and continuous adaptive operator, adaptive finite-time dynamic surface control is proposed for partial integrated guidance and control design and achieves finite-time convergence with multiple uncertainties. The proposed adaptive operators are continuous and differentiable to prevent derivatives of virtual intermediate control signal from growing unbounded through the modified filter and compensate errors caused by the modified filter and extended state observer. In order to achieve better interception accuracy and convergence effect in impact angle constraints simultaneously, the first error vector of method is constructed in continuous non-singular terminal sliding surface form. And nonlinear extended state observers with finitetime convergence are introduced to estimate uncertainties. With the synthesis of above, a 3-D impact angle constrained partial integrated guidance and control scheme with finite-time convergence is developed, and accurate expressions of convergent regions are given. The finite-time stability analysis is given based on the Lyapunov theory. Simulation and experiment results demonstrate the enhanced interception performance under impact angle constraints and robustness against uncertainties.