导弹积分反步制导控制一体化设计

制导控制一体化设计响应快、时延小，能充分考虑制导与控制间的耦合关系，但具有对象模型阶数高、鲁棒性差等特点.借用PI控制思想，将积分控制引入反步控制，设计基于积分反步方法的制导控制一体化算法，增强系统的抗干扰能力，实现对零视线角速率指令的高精度跟踪；通过构造高阶滑模微分器，观测反步控制中所需的视线角高阶微分信息，同时保证观测值对于真值的收敛速度和精度；设计基于浸入与不变的估计器估计目标机动信息，消除目标机动在拦截目标时对脱靶量的影响.仿真结果表明所设计的制导控制一体化算法可以实现导弹对目标的碰撞拦截，抑制目标机动带来的不利干扰，提高系统的鲁棒性. 

Integrated Guidance and Control Design Based on Integral Backstepping

The high order of object mode and low robustness are caused generally in the design of integrated guidance and control (IGC) due to much consideration about the rapid response, least time delay and the coupling relation between control and guide. In order to solve the problems and to achieve a high precise tracking in the zero line of sight rate reference and enhance the capability of anti-jamming, an integrated guidance and control algorithm was proposed in this paper based on integral backstepping method, introducing an incremental integral control to the system like a PI controller. High order differential of the line of sight were achieved by constructing high order sliding mode differentiator, while the convergence speed and accuracy of the observed value were ensured. In an attempt to eliminate the adverse influence on the miss distance, the immersion and invariance estimator was designed to estimate the target maneuvering information. Simulation results show that integrated guidance and control can implement a hit-to-kill and have great potential in inhibiting the adverse effects of target maneuver and improving the robustness of the system.