Impact angle constrained three-dimensional integrated guidance and control for STT missile in the presence of input saturation

Considering a class of skid-to-turn (STT) missile with fixed target and constrained terminal impact angles, a novel three-dimensional (3D) integrated guidance and control (IGC) scheme is proposed in this paper. Based on coriolis theorem, the fully nonlinear IGC model without the assumption that the missile flies heading to the target at initial time is established in the three-dimensional space. For this strict-feedback form of multi-variable system, dynamic surface control algorithm is implemented combining with extended observer (ESO) to complete the preliminary design. Then, in order to deal with the problems of the input constraints, a hyperbolic tangent function is introduced to approximate the saturation function and auxiliary system including a Nussbaum function established to compensate for the approximation error. The stability of the closed-loop system is proven based on Lyapunov theory. Numerical simulations results show that the proposed integrated guidance and control algorithm can ensure the accuracy of target interception with initial alignment angle deviation and the input saturation is suppressed with smooth deflection curves.