Proceedings of 2015 IEEE

International Conference on Mechatronics and Automation

August 2 - 5, Beijing, China

Integrated Guidance and Control Design of Missile with

Terminal Impact Angle Constraint
Ke Zhang Peng Li, Ming Lv and Xiaoma Liu
Institute of Electromechanical Engineering and Automation Institute of Electromechanical Engineering and Automation
National University of Defense Technology National University of Defense Technology
Changsha, Hunan Province , China Changsha, Hunan Province, China
zk6697955@sina.com 350235586@qq.com

Abstract - The problem of integrated guidance and control In this paper, an integrated guidance and control law
for missiles against maneuvering target was studied in this paper. which is based on variable structure control is designed. Zero
Integrated guidance and control model of pitch plane was effort miss (ZEM) is chosen as the sliding mode surface,
established on a roll stable missile. The target maneuver was which is in a simpler form and doesn’t need to estimate the tgo
considered as unknown bounded uncertainty. An adaptive
integrated guidance and control law was designed by adopting
[8]. Besides, the maneuver of target is regarded as bounded
sliding mode control to deal with the uncertainty. The disturbance and there is no need to estimate the tgo.
adaptability and robustness were achieved by choosing zero II. INTEGRATED GUIDANCE AND CONTROL MODEL
effort miss as the sliding mode surface. The simulation result
demonstrates that the integrated guidance and control system The relative position of missile and target in the vertical
can meet the accuracy requirement of hitting the maneuvering plane is shown in Fig. 1. M and T represent missile and target;
target with terminal impact angle constraint. R and q are the relative distance and line of sight (LOS) angle;
V, VT,  , T represent the velocity, trajectory inclination angle
Index Terms - integrated guidance and control; maneuvering
target; sliding mode control; zero effort miss; terminal impact angle of missile and target respectively.
constraint

I. INTRODUCTION
The guidance and control system of missile is composed
of guidance system and control system. The traditional way of
designing guidance and control system is to design two
systems separately and combine them. The potential of missile
can’t be made full use of. To improve the performance of
guidance and control system, a new design method –
integrated guidance and control(IGC) is proposed [1]. The
missile is considered as a whole and the rudder angle is given
directly from information of missile-target movement. This
Fig. 1 The relative position of missile and target
new method of designing guidance and control system is taken
seriously by scholars in recent years. [2] designed an optimal
The kinematical equations of missile and target in the
guidance law aiming at maneuvering target with terminal
vertical plane can be given as follows:
impact angle constraint, which is in a complex form and 
requires more information of target movement. [3] adopted the R  VT cos(q  T )  V cos(q   )
method of back-stepping control which is based on (1)

disturbance estimation to achieve IGC design of homing R q  VT sin(q  T )  V sin(q   )
missile. [4] chose zero effort miss(ZEM) as the sliding mode And
surface and designed an IGC system of interceptor, but it 
needs to estimate the tgo and considers the maneuver of target aT   T VT
(2)
which makes the process of computation complex. [5] adopted 
the adaptive RBF neural network sliding mode control method a  (n y  cos ) g   V
to design the IGC controller with terminal angular constraint. Let
[6] designed a  - D approach-based three-dimensional terminal 
f m  V sin( q   )  g cos  cos(q   )
guidance law with impact angle constraint, it doesn’t consider (3)

the impact of target maneuver and random disturbance factors. ft  VT sin( q  T )  aT cos(q  T )
[7] designed an integrated guidance and control law by
In (2)(3), a and aT represent the normal acceleration of
adopting eigenstructure assignment approach. It is based on
missile and target; ny is the overload of missile; g is the
the assumption that the attack angle is quite small. So it
acceleration of gravity.
doesn’t work when the attack angle of missile is too large.

978-1-4799-7098-8/15/$31.00 ©2015 IEEE 820

 Differentiate the second equation of (1) with respect to III. DESIGN OF INTEGRATED SLIDING MODE VARIABLE
time and combine it with (2) (3), we obtain STRUCTURE GUIDANCE AND CONTROL LAW

  
When we adopt the sliding mode variable structure
R q   g cos( q   )n y  2 R q  f m  ft (4) control method to design guidance and control system of
missiles, we need to design the sliding mode surface and
The above equation is the nonlinear kinematical equation approach law. In this paper, ZEM is chosen to be the sliding
of missile and target. ft represents bounded uncertainty of mode surface. It’s defined as the minimum relative distance
target maneuver. between missile and target when the target doesn’t maneuver
We don’t consider the coupling between two channels. In or maneuvers in an expected way and the missile is
the pitch plane, the linearized dynamics and kinematics of uncontrolled [10]. The missile’s guidance and control can be
missile can be described by the following equation [9]. achieved when the sliding motion reaches and stays on the
chosen ZEM sliding mode surface.
 
 qsC y qsC y z A. Design of Sliding Mode Surface
    z  z Based on the LOS rate, ZEM can be described as follows:
mV mV (5)

 
qslm z qslm z z qsl 2 m z
z 
z   z  z

Jz Jz J z q R2
Z EM  
(11)
R
 represents the attack angle of missile; m is the mass of
missile;  z is the rotating angular velocity of missile body in
Compared with the ZEM in [5], (11) doesn’t consider the
pitch plane;  z is the rudder angle of missile; q is the dynamic
impact of target maneuver. Besides, there’s no need to
pressure of air flow; s and l are the characteristic area and estimate the tgo and the acceleration of target. It makes it easier
length of missile; Cy , Cy z , mz , mz z , mz z are the aerodynamic 
to compute. Compared with choosing q as the sliding mode
parameters of missile ； Jz is the rotary inertia of missile in 
pitch plane. surface, (11) can vary with R and R and has strong
The overload of missile can be approximately described adaptability. With the consideration of LOS constraint, we add
as LOS angle error (q-qe) to the sliding mode surface. qe is the
qsC y qsC y z desired terminal impact angle.
ny   z (6) Finally, the sliding mode surface is designed as follows:
mg mg

R2 
According to the above analysis, the integrated guidance S  c1 q  c2 ( q  qe )  c3n y  c4 z (12)

and control model of the homing missile in the pitch plane can R
be written as

  g cos( q   )n y R f f The first term of the right side of the equation is ZEM
q  2 q m  t (7)
R R R R and it ensures that the system can meet the requirement of
 miss distance; the second term is the LOS angle error to
n y  A11 n y  A12 z (8) ensure the missile has desired terminal impact angle; the third
 term is the overload of missile, it makes the overload of
 z  A21n y  A22 z  A23 z (9) missile to be as small as possible; the forth term is the angular
velocity of missile’s longitudinal axis and it keeps the
In the above equations missile’s gesture to be steady.
qsC y
A11   B. Design of Integrated Guidance and Control Law
mV From (12), we obtain
qsC y z
A12        
mg R
S  c1 
(2 R q  R q)  c2 q  c3 n y  c4  z (13)

mglm z R
A21  (10)
J zC y
qsl 2 m  z Substitute (7) (8) (9) (10) into (13), we get
z
A22 
Jz
qsl ( mz z Cy  mz C y z )
A23 
J z Cy

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   R R
V  S c1 S  sgn( S )
R
S  c1  [  g cos(q   )n y  f m  ft ] 
ft  k

R R R
 R R
 c2 q  c3 ( A11n y  A12z )  (14)  c1 ft S  k S2   S
 
c4 ( A21n y  A22z  A23 z ) R R
R R
 c1 MSk S2   S
 
The adaptive sliding mode approach law is R R
 
 R R R
S  k S   sgn(S ) (15)  k S 2  (  c1 M) S
R 
R R

The target maneuver is regarded as bounded disturbance

From the previous equation, it is obvious that
and ft satisfies that |ft|  M. M is a bounded positive. From (14) 
(15), the integrated guidance and control law can be obtained R
when  satisfies   c1 
M , we can get V <0. According to the
R

 z  (c4 A23 ) 1c2 q   c1
R
 g cos(q   ) Lyapunov Theorem, the sliding mode surface can converge to
R zero within finite time.
 c3 A11  c4 A21 n y  (c3 A12  c4 A22 )z (16) The design of integrated guidance and control law is
finished.

R R IV. SIMULATION AND THE ANALYSIS OF RESULTS
 c1  fm  k S   sgn( S )
R In order to get better results, the parameters c1, c2, c3, c4, k
R
and  should be chosen properly. c1 and c2 represent the
weight coefficient of ZEM and LOS angle error respectively
It can be concluded that when  satisfies
and they should be of proper value to make sure the ZEM and
R
  c1 
M , (17) error of LOS angle can converge to zero. Adjust the value of
R c1 and c2 and this is to avoid the long-term oscillation of
missile’s gesture. If the value of k is too small, it takes more
the sliding mode surface can converge to zero within finite
time to reach the sliding mode surface;  should be as large as
time.
possible and keep its value within a reasonable range to
Proof:
weaken the buffet. At the same time, in case that the
The lyapunov function is chosen to be
instruction of rudder angle is beyond the effective rudder
angle range, the values of k and  can’t be too large.
V  S2 / 2 We use one type of cruise missiles to test the technique
above. The initial engagement parameters are chosen as
Differentiate the above equation with respect to time, and follows: missile’s position (x,y)=(0,8000); target’s position
(xT,yT)=(10000,0); the missile’s speed v=200m/s with an
 
V SS initial flight path angle   0 deg ; the target’s initial speed
vT=30m/s with an initial flight path angle T  0 deg . The
Substitute (13) into the above equation, the following desired terminal impact angle is -45 degrees. The target
equation is obtained maneuvers by the law of sine with its amplitude 10, frequency
0.3. The parameters c1=0.7, c2=0.3, c3=15, c4=30, k=2
 R and   100 .
V  S c1 
 g cos(q   )n y  f m  ft  The results of simulation are shown in Fig. 2- Fig. 6. Fig.
R 2 shows the flight path of missile and target, we can see the
 missile hits the maneuvering target within finite time. It
 c2 q  c3 ( A11n y  A12z ) proves the rationality of the integrated guidance and control
 c4 ( A21n y  A22z  A23 z ) law designed before. From Fig. 3 we can tell the terminal
impact angle reaches -46 degrees and it basically satisfies the
Substitute the guidance and control law (16) into the requirement of terminal impact angle constraint. The error
above equation between the desired and practical impact angle is -1 degree
which is quite small. Fig. 4 demonstrates the LOS rotation rate
during flight. Fig. 5 shows the overload of missile before
hitting the target. It ranges from -4 to 4 during flight. The

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value of ny is quite small which is easier to produce by missile. Fig. 4 The LOS angle rotation rate during the flight
One of the most significant performance index of the designed
integrated guidance and control law is zero effort miss(ZEM).
It is shown in Fig. 6. The ZEM reaches to 4.5 at last which is
quite a small miss distance.
Because of the method of IGC considers the system as a
whole and uses all the measurable information, the
performance is quite satisfied.

Fig. 5 The overload of the missile

Fig. 2 The flight path of the missile and target

Fig. 6 The ZEM during the flight

V. CONCLUSION
To attack maneuvering target, this paper designed an
integrated guidance and control(IGC) system of missile by
adopting the method of sliding mode variable structure
Fig. 3 The LOS angle during the flight control. First, we established the IGC model of missile
according to the relative kinematics equations of the missile
and target. Then we chose the zero effort miss(ZEM) as the
sliding mode surface and prove the rationality of the method.
This method regarded the maneuver of target as bounded
disturbance, so there is no need to estimate the tgo and
acceleration of the target. The system of missile therefore has
better adaptability and robustness. The results of simulation
demonstrated that the designed IGC law could meet the
requirements of miss distance and terminal impact angle. The
method adopted is proved to be effective.
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