Guidance control method and system of compound guided vehicle considering fly-time impact angle constraint

Abstract

The application discloses a kind of composite guidance aircraft guidance control methods considering fly time angle of fall constraint, comprising the following steps: setting guidance law in multiple aircrafts;Desired terminal missile line-of-sight angle and desired flight time of multiple aircrafts are set;For each aircraft, after the aircraft is launched, the condition information of the aircraft is acquired in real time, the condition information is input into the guidance law, and the overload instruction of the aircraft is obtained;The guidance law includes angle of fall control sub-guidance law and fly time control sub-guidance law, angle of fall control sub-guidance law is used to control aircraft to reach target position according to expected angle of fall, and fly time control sub-guidance law is used to control aircraft to reach target position according to expected flight time.The composite guidance aircraft guidance control method considering fly time angle of fall constraint disclosed by the application can realize accurate guidance under the double constraints of fly time and angle of fall, so that the aircraft can realize strong anti-interference high-precision saturated attack.

Description

Technical Field

[0001] This invention relates to a guidance and control method for a composite guidance aircraft that takes into account the flight time angle constraint, and belongs to the field of aircraft control technology. Background Technology

[0002] In some scenarios, multiple aircraft are needed to carry out a saturation attack, that is, multiple aircraft are launched from different locations to carry out an all-directional attack on the target.

[0003] However, existing aircraft control methods can only enable multiple aircraft to attack targets from different angles of attack, but cannot enable multiple aircraft to attack targets at the same time, resulting in the target still having a high chance of escaping the attack.

[0004] Therefore, it is necessary to design a control method that enables multiple aircraft to reach the target simultaneously from different angles. Summary of the Invention

[0005] To overcome the above problems, the inventors conducted in-depth research and proposed a guidance and control method for composite guided aircraft that considers flight angle constraints, comprising the following steps:

[0006] Guidance laws are set in multiple aircraft;

[0007] Set the expected terminal missile line-of-sight angle and expected flight time for multiple aircraft, with different expected terminal missile line-of-sight angles and / or expected flight times for different aircraft;

[0008] For each aircraft, after launch, the aircraft's condition information is acquired in real time, and the condition information is input into the guidance law to obtain the overload command for that aircraft. The aircraft's autopilot controls the aircraft's flight status according to the obtained overload command.

[0009] The condition information includes the distance between the aircraft and the target, the line-of-sight angle between the missile and the target, the aircraft speed, the aircraft trajectory inclination angle, and the flight time elapsed from launch to the current moment.

[0010] Furthermore, the guidance law includes a landing angle control sub-guidance law and a flight time control sub-guidance law, expressed as follows:

[0011] a m =a IA +a IT

[0012] Among them, a m Indicates an overload instruction, a IA This represents the guidance law for the angle of impact control sub-law, a IT This indicates the guidance law of the flight control subsystem;

[0013] The angle-of-arrival control sub-guidance law is used to control the aircraft to reach the target position at the desired angle of arrival.

[0014] The flight time control sub-guidance law is used to control the aircraft to reach the target position according to the desired flight time.

[0015] Furthermore, the landing angle control sub-guidance law is set as follows:

[0016]

[0017]

[0018] Where e1 represents the terminal angle tracking error, e1=λ-λ d λ represents the line-of-sight angle of the bullet. d Indicates the desired line-of-sight angle of the terminal's bullets, then

[0019] r represents the relative distance between the projectile and the target, ζ1, α, β, and ε are the parameters to be designed, s1 represents the first sliding surface, and sgn(·) is the sign function, meaning:

[0020]

[0021] In a preferred embodiment, the first sliding surface s1 is configured as follows:

[0022] s1 = e2 + α|e1| β sgn(e1).

[0023] In a preferred embodiment, the flight control sub-guidance law is set as follows:

[0024]

[0025]

[0026]

[0027] Where, σ M This represents the aircraft's leading angle, i.e., the aircraft's trajectory inclination angle γ. M The angle between the projectile's line of sight λ and the projectile's line of sight: σ M =γ M -λ;

[0028] σ Mf This represents the terminal lead angle of the aircraft, i.e., the desired landing angle γ. Mf The angle between the projectile's line of sight λ and the projectile's line of sight: σ Mf =γ Mf -λ, and the expected landing angle γ Mf With respect to the expected terminal missile line of sight λd same;

[0029] V M Indicates the speed of the aircraft;

[0030] ζ2、 η2、 Here are the parameters to be designed, and s2 represents the second sliding surface.

[0031] In a preferred embodiment, the second sliding surface s2 is configured as follows:

[0032]

[0033] Among them, t d The expected flight time is represented by t, where t represents the flight time elapsed from launch to the current moment.

[0034] In another aspect, the present invention also provides a guidance and control system for a composite guidance aircraft that takes into account flight time-of-flight angle constraints. This system includes multiple aircraft, each equipped with:

[0035] The velocity measurement module is used to acquire the aircraft's velocity and trajectory tilt angle.

[0036] The laser guidance module is used to obtain the distance between the aircraft and the target and the line-of-sight angle between the missile and the target;

[0037] A microprocessor is used for timing to obtain the flight time elapsed from launch to the current moment;

[0038] The speed measurement module and the laser guidance module are connected to the microprocessor. The microprocessor also contains a guidance law to obtain the overload command of the aircraft.

[0039] The control module controls the flight status of the aircraft based on overload commands.

[0040] Furthermore, the guidance law includes a landing angle control sub-guidance law and a flight time control sub-guidance law, expressed as follows:

[0041] a m =a IA +a IT

[0042] Among them, a m Indicates an overload instruction, a IA This represents the guidance law for the angle of impact control sub-law, a IT This indicates the guidance law of the flight control subsystem;

[0043] The angle-of-arrival control sub-guidance law is used to control the aircraft to reach the target position at the desired angle of arrival.

[0044] The flight time control sub-guidance law is used to control the aircraft to reach the target position according to the desired flight time.

[0045] Furthermore, the landing angle control sub-guidance law is set as follows:

[0046]

[0047]

[0048] Where e1 represents the terminal angle tracking error, e1=λ-λ d λ represents the line-of-sight angle of the bullet. d Indicates the desired line-of-sight angle of the terminal's bullets, then

[0049] r represents the relative distance between the projectile and the target, ζ1, α, β, and ε are the parameters to be designed, s1 represents the first sliding surface, and sgn(·) is the sign function, meaning:

[0050]

[0051] In a preferred embodiment, the flight control sub-guidance law is set as follows:

[0052]

[0053]

[0054]

[0055] Where, σ M This represents the aircraft's leading angle, i.e., the aircraft's trajectory inclination angle γ. M The angle between the projectile's line of sight λ and the projectile's line of sight: σ M =γ M -λ;

[0056] σ Mf This represents the terminal lead angle of the aircraft, i.e., the desired landing angle γ. Mf The angle between the projectile's line of sight λ and the projectile's line of sight: σ Mf =γ Mf -λ, and the expected landing angle γ Mf With respect to the expected terminal eye line of sight λ d same;

[0057] V M Indicates the speed of the aircraft;

[0058] ζ2、 η2、 Here are the parameters to be designed, and s2 represents the second sliding surface.

[0059] The beneficial effects of this invention include:

[0060] (1) It can achieve precise guidance under the dual constraints of flight time and angle of impact;

[0061] (2) It enables aircraft to achieve strong anti-interference and high-precision saturation attack. Attached Figure Description

[0062] Figure 1 A schematic flowchart of a composite guidance and control method for a composite guided aircraft considering flight angle constraints according to a preferred embodiment of the present invention is shown.

[0063] Figure 2 The simulation results of the ballistic trajectories of different aircraft in Example 1 are shown;

[0064] Figure 3 The simulation results of the relative distances between different aircraft in Example 1 are shown;

[0065] Figure 4 The simulation results of the ballistic tilt angles of different aircraft in Example 1 are shown;

[0066] Figure 5 The simulation results of the ballistic trajectories of different aircraft in Example 1 are shown;

[0067] Figure 6 The simulation results of the relative distances between different aircraft in Example 1 are shown;

[0068] Figure 7 The simulation results of the ballistic tilt angles of different aircraft in Example 1 are shown. Detailed Implementation

[0069] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present invention will become clearer and more apparent.

[0070] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0071] This invention provides a guidance and control method for a composite-guided aircraft that considers flight angle constraints, comprising the following steps:

[0072] Guidance laws are set in multiple aircraft;

[0073] Set the expected terminal missile line-of-sight angle and expected flight time for multiple aircraft, with different expected terminal missile line-of-sight angles and / or expected flight times for different aircraft;

[0074] For each aircraft, after launch, the aircraft's condition information is acquired in real time, and the condition information is input into the guidance law to obtain the overload command for that aircraft. The aircraft's autopilot controls the aircraft's flight status according to the obtained overload command.

[0075] The condition information includes the distance between the aircraft and the target, the line-of-sight angle between the missile and the target, the aircraft speed, the aircraft trajectory inclination angle, and the flight time elapsed from launch to the current moment.

[0076] Furthermore, the guidance law includes a landing angle control sub-guidance law and a flight time control sub-guidance law, expressed as follows:

[0077] a m =a IA +a IT

[0078] Among them, a m Indicates an overload instruction, a IA This represents the guidance law for the angle of impact control sub-law, a IT This indicates the guidance law of the flight control subsystem;

[0079] The angle-of-arrival control sub-guidance law is used to control the aircraft to reach the target position at the desired angle of arrival.

[0080] The flight time control sub-guidance law is used to control the aircraft to reach the target position according to the desired flight time.

[0081] According to the present invention, the angle of impact and flight time are constrained simultaneously in the guidance law, so that multiple aircraft can strike the target at different angles at the same time, thereby improving the strike effect and maximizing the avoidance of the target's defense system.

[0082] According to the present invention, the landing angle control sub-guidance law is set as follows:

[0083]

[0084]

[0085] Where e1 represents the terminal angle tracking error, e1=λ-λ d λ represents the line-of-sight angle of the bullet. d Indicates the desired line-of-sight angle of the terminal's bullets, then

[0086] r represents the relative distance between the projectile and the target, ζ1, α, β, and ε are the parameters to be designed, s1 represents the first sliding surface, and sgn(·) is the sign function, meaning:

[0087]

[0088] Compared with the traditional angle-constrained guidance law, the angle-control sub-guidance law of this invention can enable the control system to converge to the desired trajectory within a finite time, thus solving the singularity problem of the traditional angle-constrained guidance law from the perspective of guidance law design.

[0089] In a preferred embodiment, α > 0, 1 < β < 2, ζ1 > 0. 0 < η1 < 0.1, With ε > 0, the values ​​of the above parameters enable the aircraft to have higher steady-state accuracy, making it more suitable for guidance and control of high-speed, high-precision composite guidance aircraft.

[0090] In a preferred embodiment, the first sliding surface s1 is configured as follows:

[0091] s1 = e2 + α|e1| β sgn(e1).

[0092] According to the present invention, the flight control sub-guidance law is set as follows:

[0093]

[0094]

[0095]

[0096] Where, σ M This represents the aircraft's leading angle, i.e., the aircraft's trajectory inclination angle γ. M The angle between the projectile's line of sight λ and the projectile's line of sight: σ M =γ M -λ;

[0097] σ Mf This represents the terminal lead angle of the aircraft, i.e., the desired landing angle γ. Mf The angle between the projectile's line of sight λ and the projectile's line of sight: σ Mf =γ Mf -λ, and the expected landing angle γ Mf With respect to the expected terminal missile line of sight λ d same;

[0098] V M Indicates the speed of the aircraft;

[0099] ζ2、 η2、 Here are the parameters to be designed, and s2 represents the second sliding surface.

[0100] The flight control sub-guidance law described in this invention can not only achieve flight control, but also achieve finite-time convergence of the system state with a fast response speed. In addition, it is insensitive to parameter changes and external disturbances, and has strong robustness to disturbances and unmodeled dynamics.

[0101] In a preferred embodiment, ζ2 > 0. 0 < η² < 0.1, This gives the aircraft high steady-state accuracy, making it suitable for guidance and control of high-speed, high-precision composite guidance aircraft.

[0102] In a preferred embodiment, the second sliding surface s2 is configured as follows:

[0103]

[0104] Among them, t d The expected flight time is represented by t, where t represents the flight time elapsed from launch to the current moment.

[0105] The inventors discovered that traditional terminal sliding mode control introduces singularity problems, resulting in infinite control inputs when the system approaches the origin. Furthermore, in traditional terminal sliding mode control, once the state trajectory reaches the sliding mode surface, it is difficult to slide strictly along the surface to the equilibrium point; instead, it traverses back and forth on either side, approaching the equilibrium point with significant chatter. The second sliding mode surface designed in this invention solves these problems, thereby significantly reducing chatter as the system approaches the origin and ensuring system stability.

[0106] On the other hand, the present invention also provides a guidance and control system for a composite guided aircraft that considers flight time angle constraints. This system includes multiple aircraft, each equipped with:

[0107] The velocity measurement module is used to acquire the aircraft's velocity and trajectory tilt angle.

[0108] The laser guidance module is used to obtain the distance between the aircraft and the target and the line-of-sight angle between the missile and the target;

[0109] A microprocessor is used for timing to obtain the flight time elapsed from launch to the current moment;

[0110] The speed measurement module and the laser guidance module are connected to the microprocessor. The microprocessor also contains a guidance law to obtain the overload command of the aircraft.

[0111] The control module controls the flight status of the aircraft based on overload commands.

[0112] Preferably, the speed measurement module is a satellite navigation chip, and more preferably, a WeChat navigation chip with four composite antennas. Compared with traditional conical antennas and loop antennas, this antenna not only has stronger satellite signal reception capabilities but also has high overload resistance. More preferably, the satellite navigation chip includes a GPS receiver, a BeiDou receiver, and a GLONASS receiver. The multi-receiver design can improve the accuracy and reception capability of information acquisition.

[0113] More preferably, the speed measurement module further includes an accelerometer and an angular rate gyroscope, which are combined with the satellite navigation chip to reduce the overall measurement error of the speed measurement module.

[0114] The laser guidance module is preferably a strapdown laser seeker. Compared with traditional platform seekers, strapdown seekers do not need to be installed on the platform and can be directly fixed to the aircraft, which not only saves the airframe loading space, but also facilitates the integrated realization of the navigation, guidance and control system.

[0115] The microprocessor can be any chip capable of performing the above functions, and will not be described in detail in this invention.

[0116] The control module includes an aircraft autopilot and servo motors.

[0117] According to the present invention, the guidance law includes a landing angle control sub-guidance law and a flight time control sub-guidance law, expressed as follows:

[0118] a m =a IA +a IT

[0119] Among them, a m Indicates an overload instruction, a IA This represents the guidance law for the angle of impact control sub-law, a IT This indicates the guidance law of the flight control subsystem;

[0120] The angle-of-arrival control sub-guidance law is used to control the aircraft to reach the target position at the desired angle of arrival.

[0121] The flight time control sub-guidance law is used to control the aircraft to reach the target position according to the desired flight time.

[0122] Furthermore, the landing angle control sub-guidance law is set as follows:

[0123]

[0124]

[0125] Where e1 represents the terminal angle tracking error, e1=λ-λ d λ represents the line-of-sight angle of the bullet. dIndicates the desired line-of-sight angle of the terminal's bullets, then

[0126] r represents the relative distance between the projectile and the target, ζ1, α, β, and ε are the parameters to be designed, s1 represents the first sliding surface, and sgn(·) is the sign function, meaning:

[0127]

[0128] Furthermore, the guidance law of the flight control sub-system is set as follows:

[0129]

[0130]

[0131]

[0132] Where, σ M This represents the aircraft's leading angle, i.e., the aircraft's trajectory inclination angle γ. M The angle between the projectile's line of sight λ and the projectile's line of sight: σ M =γ M -λ;

[0133] σ Mf This represents the terminal lead angle of the aircraft, i.e., the desired landing angle γ. Mf The angle between the projectile's line of sight λ and the projectile's line of sight: σ Mf =γ Mf -λ, and the expected landing angle γ Mf With respect to the expected terminal missile line of sight λ d same;

[0134] V M Indicates the speed of the aircraft;

[0135] ζ2、 η2、 Here are the parameters to be designed, and s2 represents the second sliding surface.

[0136] Example

[0137] Example 1

[0138] A simulation experiment was set up in which 5 aircraft attacked a single target. The target's location was set to (10000, 0), and the launch positions of the 5 aircraft were (0, 0). The initial trajectory inclination angle of all aircraft was 30°, and the speed of all aircraft was 300m / s.

[0139] Set the desired terminal landing angle for all five aircraft to -50°, and set the desired flight times for each aircraft to be: t d =45,48,50,52,55.

[0140] Let the guidance law of the aircraft be a. m =a IA +a IT

[0141] in,

[0142]

[0143]

[0144]

[0145]

[0146] Simulation results are as follows Figures 2-4 As shown, where Figure 2 The ballistic trajectories of different aircraft are shown, with the horizontal and vertical axes representing distance. Figure 3 The graph shows the relative distances between different aircraft. The horizontal axis represents the flight time of the aircraft, and the vertical axis represents the relative distance between the projectile and the target. Figure 4 The figure shows the trajectory inclination angles of different aircraft. The horizontal axis represents the flight time of the aircraft, and the vertical axis represents the trajectory inclination angle.

[0147] from Figure 2 It can be seen that the aircraft is able to accurately hit the target, from Figure 3 The relative distance between the projectile and the target indicates that the aircraft can hit the target at the expected moment. Figure 4 It can be seen that the aircraft is able to hit the target at the desired angle.

[0148] Example 2

[0149] The same experiment as in Example 1 was conducted, except that the desired landing angles of the five aircraft were set as λ. d = -30°, -40°, -50°, -60°, -70°, and set the expected flight time of the 5 aircraft to 45s.

[0150] Simulation results are as follows Figures 5-7 As shown, where Figure 5 The ballistic trajectories of different aircraft are shown, with the horizontal and vertical axes representing distance. Figure 6 The graph shows the relative distances between different aircraft. The horizontal axis represents the flight time of the aircraft, and the vertical axis represents the relative distance between the projectile and the target. Figure 7 The graph shows the trajectory inclination angles of different aircraft. The horizontal axis represents the flight time of the aircraft, and the vertical axis represents the trajectory inclination angle.

[0151] from Figure 5It can be seen that the aircraft is capable of precision strikes; from Figure 6 It can be seen that, for the same flight time constraint, even with different terminal angle constraints, the aircraft can hit the target at the expected time; from Figure 7 It can be seen that the aircraft was able to hit the target at the desired terminal angle.

[0152] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship in the working state of this invention, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0153] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0154] The present invention has been described above with reference to preferred embodiments; however, these embodiments are merely exemplary and illustrative. Various substitutions and modifications can be made to the present invention based on these embodiments, all of which fall within the scope of protection of the present invention.

Claims

1. A guidance and control method for a composite-guided aircraft considering flight angle constraints, characterized in that, Includes the following steps: Guidance laws are set in multiple aircraft; Set the expected terminal missile line-of-sight angle and expected flight time for multiple aircraft, with different expected terminal missile line-of-sight angles and / or expected flight times for different aircraft; For each aircraft, after launch, the aircraft's condition information is acquired in real time, and the condition information is input into the guidance law to obtain the overload command for that aircraft. The aircraft's autopilot controls the aircraft's flight status according to the obtained overload command. The condition information includes the distance between the aircraft and the target, the line-of-sight angle between the missile and the target, the aircraft speed, the aircraft trajectory inclination angle, and the flight time elapsed from launch to the current moment. The guidance law includes a landing angle control sub-guidance law and a flight time control sub-guidance law, expressed as follows: a m =a IA +a IT Among them, a m Indicates an overload instruction, a IA This represents the guidance law for the angle of impact control sub-law, a IT This indicates the guidance law of the flight control subsystem; The angle-of-arrival control sub-guidance law is used to control the aircraft to reach the target position at the desired angle of arrival. The flight time control sub-guidance law is used to control the aircraft to reach the target position according to the desired flight time; The drop angle control sub-guidance law is set as follows: Where e1 represents the terminal angle tracking error, e1=λ-λ d λ represents the line-of-sight angle of the bullet. d Indicates the desired line-of-sight angle of the terminal's bullets, then r represents the relative distance between the projectile and the target, ζ1, α, β, and ε are the parameters to be designed, s1 represents the first sliding surface, and sgn(·) is the sign function, meaning:

2. The guidance and control method for a composite guided aircraft considering flight time and landing angle constraints according to claim 1, characterized in that, The first sliding surface s1 is set as follows: s1=e2+α|e1| β sgn(e1)。 3. The guidance and control method for a composite-guided aircraft considering flight time angle constraints according to claim 1, characterized in that, The flight control sub-guidance law is set as follows: Where, σ M This represents the aircraft's leading angle, i.e., the aircraft's trajectory inclination angle γ. M The angle between the projectile's line of sight λ and the projectile's line of sight: σ M =γ M -λ; σ Mf This represents the terminal lead angle of the aircraft, i.e., the desired landing angle γ. Mf The angle between the projectile's line of sight λ and the projectile's line of sight: σ Mf =γ Mf -λ, and the expected landing angle γ Mf With respect to the expected terminal missile line of sight λ d same; V M Indicates the speed of the aircraft; ζ2、 η2、 Here are the parameters to be designed, and s2 represents the second sliding surface.

4. The guidance and control method for a composite-guided aircraft considering flight angle constraints according to claim 3, characterized in that, The second sliding surface s2 is set as follows: Among them, t d The expected flight time is represented by t, where t represents the flight time elapsed from launch to the current moment.

5. A guidance and control system for a composite guidance aircraft considering flight landing angle constraints, characterized in that, The system comprises multiple aircraft, each equipped with: The velocity measurement module is used to acquire the aircraft's velocity and trajectory tilt angle. The laser guidance module is used to obtain the distance between the aircraft and the target and the line-of-sight angle between the missile and the target; A microprocessor is used for timing to obtain the flight time elapsed from launch to the current moment; The speed measurement module and the laser guidance module are connected to the microprocessor. The microprocessor also contains a guidance law to obtain the overload command of the aircraft. The control module controls the flight status of the aircraft based on overload commands; The guidance law includes a landing angle control sub-guidance law and a flight time control sub-guidance law, expressed as follows: a m =a IA +a IT Among them, a m Indicates an overload instruction, a IA This represents the guidance law for the angle of impact control sub-law, a IT This indicates the guidance law of the flight control subsystem; The angle-of-arrival control sub-guidance law is used to control the aircraft to reach the target position at the desired angle of arrival. The flight time control sub-guidance law is used to control the aircraft to reach the target position according to the desired flight time; The drop angle control sub-guidance law is set as follows: Where e1 represents the terminal angle tracking error, e1=λ-λ d λ represents the line-of-sight angle of the bullet. d Indicates the desired line-of-sight angle of the terminal's bullets, then r represents the relative distance between the projectile and the target, ζ1, α, β, and ε are the parameters to be designed, s1 represents the first sliding surface, and sgn(·) is the sign function, meaning:

6. The guidance and control system for a composite guided aircraft considering flight time and landing angle constraints according to claim 5, characterized in that, The flight control sub-guidance law is set as follows: Where, σ M This represents the aircraft's leading angle, i.e., the aircraft's trajectory inclination angle γ. M The angle between the projectile's line of sight λ and the projectile's line of sight: σ M =γ M -λ; σ Mf This represents the terminal lead angle of the aircraft, i.e., the desired landing angle γ. Mf The angle between the projectile's line of sight λ and the projectile's line of sight: σ Mf =γ Mf -λ, and the expected landing angle γ Mf With respect to the expected terminal missile line of sight λ d same; V M Indicates the speed of the aircraft; ζ2、 η2、 Here are the parameters to be designed, and s2 represents the second sliding surface.

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