Resumen
Focusing on the large maneuver penetration of the hypersonic glide vehicle with multiple constraints and uncertain disturbance, a robust integrated guidance and control law, which can achieve the snake-shape maneuver, is designed. A snake-shape maneuver acceleration command, in the framework of sine function, determined by the altitude, target declination of the line of sight and the missile-target distance, is discussed. The integrated guidance and control law includes the terminal guidance law with multiple constraints, attitude control law and angular velocity control law. In the terminal guidance law design, the sliding mode control is adopted while the adaptive technique is applied to estimate the disturbance. The selected sliding mode surface has variable gain determined by the estimated time-to-go. With the designed terminal guidance law, using the snake-shape maneuver acceleration command as the bias item, the angular rate of the line of sight will converge to zero and the line of sight angle will converge to the expected value, simultaneously. The attitude control law and angular velocity control law are designed to track the expected attack and bank angles. The stability of the whole system is proved with the application of the Lyapunov theorem. The effectiveness and robustness of the proposed integrated guidance and control law is verified by simulation.