Aiming at the problem of missile attacking ground target in pitch plane, combined with a composite fast nonsingular terminal sliding mode, a new adaptive finite-time stable guidance law with attack angle constraint is designed based on the second-order sliding mode control. The improved extended state observer is used to estimate the uncertainties and compensate the control quantity, and the dynamic control gains are designed to avoid the problem about “excessive estimation” of the parameter upper limit. According to the Lyapunov stability theory, it is proved that the system states can converge into a small neighborhood near the equilibrium point in a finite time. Monte Carlo simulation is carried out by randomly generating initial conditions, which proves that the guidance law has strong adaptability to different initial conditions and has good guidance precision.

中文翻译：

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一种新型自适应二阶非奇异终端滑模导引律设计

针对导弹在俯仰面攻击地面目标的问题，结合复合快速非奇异终端滑模，设计了一种基于二阶滑模控制的具有攻角约束的自适应有限时间稳定制导律。采用改进的扩展状态观测器估计不确定性和补偿控制量，设计动态控制增益，避免参数上限“估计过度”问题。根据李雅普诺夫稳定性理论，证明了系统状态可以在有限时间内收敛到平衡点附近的一个小邻域中。蒙特卡罗模拟是通过随机生成初始条件来进行的，