中文摘要：

针对发动机推力受限和动态延迟的制导问题,设计了一种具有鲁棒性的非奇异滑模制导律,并证明了有限时间收敛条件。首先,基于平面弹-目相对运动学关系,建立了考虑发动机一阶动态延迟的弹-目相对运动数学模型。其次,基于有限时间理论,证明了推力受限下制导律有限时间收敛条件及其性质;并推广到动态延迟情况下,设计了非奇异滑模制导律;最后,用边界层函数代替符号函数去除抖振。仿真结果表明了制导律具有更高的制导精度并对高速目标机动具有鲁棒性,验证了有限时间收敛条件和性质。

英文摘要：

A guidance law of nonsingular terminal sliding mode with robustness is proposed for the guidance considering thrust constraint and dynamic daelay of the engine,and the condition of finite time convergence is also given.Firstly,the mathematical model of relative movement considering the first order dynamic delay is set up according to the planar relative motion of the missile and the target.Secondly,based on the theory of finite time,the condition and properties of finite time convergence of the guidance law under the thrust constraint is proposed.It is expanded to consider the dynamics,and the nonsingular terminal guidance law is proposed.Finally,the boundary layer function is employed to eliminate the chattering instead of the sign function.Simulation results show that the guidance law achieves higher guidance precision and robustness to the high speed maneuvering target,also the condition and properties of finite time convergence are verified.