Nonsingular Terminal Sliding-Mode-Based Guidance Law Design with Impact Angle Constraints

  • Xiaojian ZhangEmail author
  • Mingyong Liu
  • Yang Li
Research Paper


This paper discusses the issue of impact angle control of an interceptor against stationary targets. Considering the impact angles problem, guidance laws are derived by using terminal sliding mode and finite-time convergence theory. The sliding mode surface is divided into two parts: singularity and nonsingularity. The singularity issue of the terminal sliding mode surface is tackled with a novel control strategy so that it does not consider the absolute value problem of the sliding mode surface any more. It is shown that the state variables of the autonomous underwater vehicle’s guidance system converge to expected states within finite time under the guidance law we proposed. The autopilot dynamics are also taken into account due to its importance. Theoretical analysis and numerical simulation results are presented to validate the performance of the proposed guidance laws.


Guidance laws Impact angle Nonsingular terminal sliding mode Finite-time convergence 



This work was supported by the National Natural Science Foundation of China (NSFC) under Grants 51379176.


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Copyright information

© Shiraz University 2018

Authors and Affiliations

  1. 1.School of Marine Science and TechnologyNorthwestern Polytechnical UniversityXi’anChina

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