基于预测估计的变速导弹时空约束滑模制导律

doi:10.7527/S1000-6893.2026.32519

Abstract

Abstract:

This paper addresses the problem of simultaneously constraining impact time and impact angle during terminal missile guidance under varying missile speed. A spatio-temporal constraint guidance law with high accuracy and robustness is proposed for use when the missile’s speed varies. First， based on existing proportional-navigation expressions for the predicted remaining flight-path length and impact angle， the desired velocity-lead angle that satisfies the spatio-temporal constraints is solved. Second， the error in the velocity-lead angle is taken as a sliding surface and， by means of sliding-mode control， a bias term is constructed on top of the proportional-navigation law； this yields a spatio-temporal guidance law that， in the speed-controllable case， avoids command singularities and abrupt command changes and achieves simultaneous control of impact time and impact angle. Next， a predictive estimation algorithm for the desired velocity-lead angle with respect to impact time is presented to extend the pro-posed guidance law to scenarios with uncontrollable speed； an optimized command-update strategy is also designed to prevent computational latency from degrading the command update cycle. Finally， numerical simulations demonstrate that the proposed guidance law attains the desired impact time and impact angle under speed variations and stochastic disturbances， validating its high guidance accuracy and good robustness in complex environments.

Key words: predictive estimation, sliding mode control, impact time constraint, impact angle constraint, missile speed variation

CLC Number:

V448.133

Wencong WANG, Tingting DU, Qingzhong JIA, Hongji YANG, Yichen WANG. Sliding mode guidance law for variable-speed missiles based on predictive estimation and time-space constraints[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(14): 332519.

Figures/Tables 10

Fig.1

Fig.2

Fig.3

Table 1

Time and angle expected values of missile

期望值	导弹1	导弹2	导弹3	导弹4
时间/s	$45$	$50$	$55$	$60$
角度/（°）	$- 70$	$- 80$	$- 90$	$- 100$

Table 1

Fig.4

Table 2

Statistical results of Monte Carlo simulations for SMITCG under uncontrollable speed and with measurement errors

数据类型	时间误差/ $s$	角度误差 $/ (°)$	脱靶量/ $m$
平均值	$- 7.5 × 10 - 4$	$- 0.051$	0.11
最大绝对误差	0.026	0.98	0.28
第90百分位绝对误差	0.021	0.67	0.23

Table 2

Fig.5

Table 3

Statistical results of Monte Carlo simulations for three guidance laws under constant speed and without measurement errors

数据类型	SMITCG	STG	SMG
平均时间误差 $/ m s$	$< 1$	$< 1$	$< 1$
最大绝对时间误差 $/ m s$	$< 1$	$< 1$	$< 1$
第90百分位绝对时间误差 $/ m s$	$< 1$	$< 1$	$< 1$
平均角度误差 $/ (°)$	$- 2.3 × 10 - 6$	$- 1.0 × 10 - 6$	0.10
最大绝对角度误差 $/ (°)$	$2.6 × 10 - 5$	$1.7 × 10 - 4$	0.10
第90百分位绝对角度误差 $/ (°)$	$2.4 × 10 - 5$	$5.0 × 10 - 5$	0.10
平均脱靶量 $/ m$	$1.4 × 10 - 4$	$6.0 × 10 - 6$	0.01
最大脱靶量 $/ m$	$1.6 × 10 - 4$	$1.4 × 10 - 5$	0.011
圆概率误差 $/ m$	$1.4 × 10 - 4$	$5.0 × 10 - 6$	0.01

Table 3

Fig.6

Table 4

Statistical results of Monte Carlo simulations for three guidance laws under constant speed with measurement errors

数据类型	SMITCG	STG	SMG
平均时间误差 $/ s$	$- 6.6 × 10 - 4$	$- 2.5 × 10 - 3$	$- 0.16$
最大绝对时间误差 $/ s$	0.042	0.040	0.57
第90百分位绝对时间误差 $/ s$	0.031	0.031	0.48
平均角度误差 $/ (°)$	$- 0.033$	$- 0.20$	$4.6$
最大绝对角度误差 $/ (°)$	0.80	$8.3$	$17$
第90百分位绝对角度误差 $/ (°)$	0.59	$3.4$	$15$
平均脱靶量 $/ m$	0.075	$1.6$	0.077
最大脱靶量 $/ m$	0.16	$17$	0.16
圆概率误差 $/ m$	0.076	0.30	0.076

Table 4

References 24

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Sliding mode guidance law for variable-speed missiles based on predictive estimation and time-space constraints

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