Composite Terminal Guidance Law for Supercavitating Torpedoes with Impact Angle Constraints

A novel composite terminal guidance law with impact angle constraints is proposed for supercavitating torpedoes to intercept maneuvering warships. Based on an adaptive super-twisting algorithm and nonsingular sliding mode (NTSM), the can guarantee finite-time convergence of line-of-sight (LOS) error LOS angular rate error. The new a combination stability theory, control (SMC), tracking differentiator (TD), disturbance observer (DO), dynamic surface control. high-order TD used denoising, tracking, differentiating measured target heading angle. DO, its proved, designed estimate lateral acceleration feedforward compensation attenuate chattering in input. In case first-order-lag autopilot, kind adopted compute first-order time derivative virtual command, which improve accuracy avoid “explosion items” problem encountered backstepping Finally, numerical simulation results are presented validate effectiveness superiority TD, law.