For a two-stage launch miniature shoulder munition steered with a laser beam riding system, the laser beam points to the target with a limited field radius and approximate straight-line spatial path; thus, the munition could not fly into the laser information field after the powered flight. The miniature munition dynamics are established firstly; then, an adaptive multiple power reachable sliding mode controller is presented and adopted to constrain both the trajectory inclination and pitch angle, which makes the munition enter the field and fly under control in the field with desired attitude angles, respectively. Considering the constraints of the incidence angle and the radius of the laser information field, an arctangent function curve is selected as the expected trajectory, and an adaptive multiple power reachable integral sliding mode guidance law is detailed, which makes the munition trajectory approach and converges to the expected curve fastly with limited acceleration. Therefore, the miniature munition flight trajectory is planned and optimized. Convergence and stability are analyzed based on the Lyapunov method. The numerical simulation against the stationary target is performed to fully demonstrate the efficacy of the proposed method.

中文翻译：

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一种多功率可达滑模控制方法用于制导微型激光束骑射式弹药

对于采用激光束骑乘系统操纵的两级发射微型肩扛弹药，激光束以有限的场半径和近似直线的空间路径指向目标；因此，动力飞行后弹药无法飞入激光信息场。首先建立微型弹药动力学；然后，提出并采用自适应多功率可达滑模控制器来约束弹道倾角和俯仰角，使弹药分别以期望的姿态角进入场和在场内受控飞行。考虑入射角和激光信息场半径的约束，选取反正切函数曲线作为期望轨迹，详细的自适应多功率可达积分滑模制导律，使弹药弹道在有限加速度下快速逼近并收敛到预期曲线。因此，对微型弹药飞行轨迹进行规划和优化。基于Lyapunov方法分析收敛性和稳定性。对静止目标进行数值模拟以充分证明所提出方法的有效性。