摘要：This article focuses on the missile integrated guidance and autopilot design in the end-game phase with control input saturation. First, the nonlinear integrated guidance and autopilot model is developed with third actuator dynamics, where the control surface deflection has magnitude constraint. Second, three nonlinear extended state observers are used to estimate the aerodynamics coefficients’ uncertainties and unmatched time-varying disturbances. Third, a command filtered controller is designed step by step with linear and nonlinear sliding surfaces to improve the terminal performance. In the process, different command filters are implemented to avoid the influences of disturbances and repetitive derivation and solve the problem of unknown control direction. The stability of closed-loop system is proved by Lyapunov theory, and the principles abided by the controller parameters are concluded through the proof. Finally, 6-degree-of-freedom numerical simulations are presented to show the feasibility and validity of the proposed controller.
关键词：Integrated guidance and autopilot; extended state observer; back-stepping sliding mode control; command filter
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