4D integrated guidance and control law for missiles cooperative engagement

To make sure that missiles can track the desired trajectory to arrive at the designated position at the designated time, through which missiles can realize cooperative penetration and attack, a 4D robust integra-ted guidance and control law is proposed. The integrated guidance and control model of missile is gotten through reasonable simplification of the 6 degree-of-freedom missile nonlinear model. According to time-scale separation between the translational and rotational dynamics of missile, the model is divided into outer-loop model and inner-loop model, and a robust integrated guidance and control law with two-loop structure is designed. The mo-delling error, parameter perturbation and external disturbance are regarded as continuous and bounded disturbance, and then an adaptive sliding mode controller for outer loop is designed so as to get the commands of thrust, attack angle and sideslip angle. Disturbance observer technique and dynamic surface control theory are combined to design the inner loop controller to get the actuator deflection angle, which can make missiles track the commands from outer loop well. The stability of outer loop and inner loop is proved using Lyapunov stability theory thoroughly, and the relationship between the control accuracy and controller parameters is analyzed. Finally, simulations are conducted on the 6 degree-of-freedom nonlinear model of missile and results demonstrate the effectiveness of the 4D robust integrated guidance and control law.