针对拦截导弹精准命中目标的同时还要满足舵偏饱和与攻击角度约束问题,借鉴反步控制与滑模控制思想,提出一种带有舵偏饱和与攻击角度约束的动态面滑模制导控制一体化的设计方法。首先,结合一阶低通滤波函数建立考虑舵偏饱和的导弹纵向平面制导控制一体化设计模型,并将导弹的未建模部分作为扰动。然后,采用线性时变滑模面解决攻击角约束问题,通过一阶滤波器避免微分爆炸,并利用非线性干扰观测器估计和补偿扰动,引入Nussbaum函数处理舵偏饱和问题。最后,使用Lyapunov理论证明系统稳定性。仿真结果表明,导弹在所设计控制律作用下,既可以保证制导精度,还可以处理攻击角约束和舵偏饱和问题,体现出良好的性能。

To achieve accurate interception performance while simultaneously satisfying actuator deflection saturation and impact angle constraints,this paper proposes a dynamic surface sliding mode integrated guidance and control method.The design draws inspiration from backstepping control and sliding mode control frameworks.Firstly,the longitudinal dynamics of the missile are modeled using a first-order low-pass filter to effectively describe the actuator saturation behavior.The unmodeled parts of the missile dynamics are regarded as external disturbances.A time-varying linear sliding surface is then constructed to address the constraint imposed on the impact angle.To avoid the common problem of derivative explosion caused by repeated differentiation in traditional backstepping design,a first-order filter is employed in the control law.Additionally,a nonlinear disturbance observer is designed to estimate and compensate for the external disturbances online.To tackle the actuator saturation,a Nussbaum-type function is integrated into the controller to deal with unknown input nonlinearities.The overall stability of the closed-loop system is rigorously proven based on Lyapunov stability theory.Simulation results validate the effectiveness of the proposed approach,demonstrating that it not only ensures terminal guidance accuracy but also successfully handles the impact angle and actuator saturation constraints,showing strong robustness and reliability under complex engagement conditions.