To intercept maneuvering target considering impact angle constraint and actuator faults, a novel three-dimensional (3D) guidance law is proposed in this paper. To guarantee the interception, the multi-variable super-twisting-algorithm-like (STA-like) is adopted in the proposed guidance law, so as to drive the line-of-sight (LOS) angle to the desired value and its rate to zero in finite time in both pitch and azimuth directions. However, it is usually a difficult task for STA-like to select the proper design parameters, and the necessary disturbance gradient for STA-like is also not clearly known, owing to realistic actuator faults and the independence between missile and target. Moreover, the actuator faults in this paper are formulated as disturbances in the control scheme, and the necessary disturbance gradient for STA-like is not clearly known as well. To solve these problems, a multi-variable dual-layer adaptive scheme is employed to adjust the control gains and guarantees its precision. The theoretical analysis and numerical simulation results demonstrate the effectiveness of the proposed guidance law. The combination of STA-like and adaptive theory in the presented guidance law for the first time can guarantee the successful interception and can generate precise and robust control signal simultaneously with impact angle constraint and actuator faults consideration.

中文翻译：

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带致动器故障的冲击角约束双层自适应导引律

为了拦截考虑撞击角约束和执行器故障的机动目标，本文提出了一种新的三维（3D）制导律。为了保证拦截，所提出的制导律中采用了多变量类超扭曲算法（STA-like），从而将视线（LOS）角驱动到期望值及其速率在有限的时间内在俯仰和方位角两个方向都归零。然而，STA-like 选择合适的设计参数通常是一项艰巨的任务，并且由于现实的执行器故障以及导弹与目标之间的独立性，STA-like 所需的扰动梯度也不清楚。此外，本文中的执行器故障被表述为控制方案中的干扰，类 STA 的必要扰动梯度也不清楚。为了解决这些问题，采用多变量双层自适应方案来调整控制增益并保证其精度。理论分析和数值模拟结果证明了所提出的制导律的有效性。该制导律首次将类STA和自适应理论相结合，既能保证拦截成功，又能在考虑撞击角约束和执行器故障的同时产生精确鲁棒的控制信号。理论分析和数值模拟结果证明了所提出的制导律的有效性。该制导律首次将类STA和自适应理论相结合，既能保证拦截成功，又能在考虑撞击角约束和执行器故障的同时产生精确鲁棒的控制信号。理论分析和数值模拟结果证明了所提出的制导律的有效性。该制导律首次将类STA和自适应理论相结合，既能保证拦截成功，又能在考虑撞击角约束和执行器故障的同时产生精确鲁棒的控制信号。