Cross-medium Attitude Control of Submarine-to-Air Missile based on Implicit Incremental Sliding-mode

To deal with complex environment and inaccurate model during the water-exit process, a cross-medium attitude control method based on the implicit incremental sliding-mode reaching law is proposed. The change rate of state is introduced as feedback in the underwater movement model of affine nonlinear form, with parametric changes and sea conditions considered as perturbations, and controller without the nonlinear term is finally designed. The simulation results in different sea condition, hydrodynamic parameters varying and sea currents, indicate that the method is effective and performs better robustness compared with tradition explicit sliding-mode method.