Multiple-missile fixed-time integrated guidance and control design with multi-stage interconnected observers under impact angle and input saturation constraints

In this paper, a novel three-dimensional fixed-time integrated guidance and control (IGC) scheme with multi-stage interconnected observers is proposed for cooperative attacks using multiple missiles against a maneuvering target under impact angle and input saturation constraints. External disturbances, modeling errors, and aerodynamic parameter variations are considered as system uncertainties and a three-channel fully coupled IGC model for multiple missiles is established. The IGC system is designed optimally based on fixed-time stability theory, sliding mode control, and the backstepping technique. Three inter-cascaded fixed-time disturbance observers based on an improved super-twisting algorithm are designed to estimate and compensate for system uncertainties. Second-order command filters are used to constrain virtual control signals, and additional filtering error subsystems are introduced to compensate for the tracking errors of filters. System stability and uniformly ultimately fixed-time boundedness of all states are proven using the Lyapunov stability theory. Finally, the limits of the acceleration components of the maneuvering target perpendicular to the line of sight direction are derived. The effectiveness of the designed IGC scheme and the ability of multi-stage interconnected observers to sense disturbances with each other are verified through simulations. There are three main points: the first one is to add the actuator factors to the existing multiple-missile cooperative guidance law to consider the design of an integrated guidance and control scheme under multiple-missile cooperative guidance; the second one is to design the disturbance observer with the ability to influence and sense each other on the basis of the existing fixed-time disturbance observer based on the improved super-twisting algorithm; and the third one is to derive the limits of a maneuvering target's acceleration perpendicular to the LOS direction under input saturation constraints. image