考虑导弹动态延迟特性的滑模导引律设计

基于平面拦截问题，考虑导弹自动驾驶仪一阶动态延迟特性，应用滑模变结构控制方法，以零化视线角速率为目的，设计了一种滑模导引律。该导引律可使得滑模面在有限时间内收敛至零，进入滑模面后可确保视线角速率在制导结束前收敛于零，从而保证高制导精度，且导引律中的变结构项只要大于目标加速度的变化率即可保证制导系统的有限时间收敛性和鲁棒性，从而大大降低了制导系统的抖动。最后以空中拦截为例，仿真验证了在导弹自动驾驶仪存在大延迟和目标做大机动逃逸下，该导引律具有良好的制导性能和高制导精度。

Sliding model guidance law design considering missile dynamic delay

To solve the planar intercept problem, a guidance law is designed using the variable structure sliding mode control method, considering the missile autopilot dynamic delay of the first order. The sliding mode can converge to zero in finite time with application of the guidance law, which makes the line of the sight rate decrease to zero within the guidance phase, therefore, a high guidance accuracy is obtained. The finite time convergence and robustness can be guaranteed as long as the variable structure is greater than the rate of the target acceleration, which reduces the wobbling of the guidance system evidently. Finally, it can be demonstrated through the simulation results, that good performance and high accuracy can be reached by the proposed guidance law, when there are great dynamic delay of the autopilot or some escape maneuver of the target.