Fixed-time sliding mode attitude tracking control for a submarine-launched missile with multiple disturbances
- 42 Downloads
This paper studies a novel adaptive fixed-time sliding mode attitude tracking control for a submarine-launched missile, which is affected by sea winds, sea waves, ocean currents and other disturbances during the water-exit process. Firstly, the nonlinear water-exit dynamic model of the submarine-launched missile is established, and then it is transformed into a simple second-order attitude tracking system. Subsequently, a novel non-singular fixed-time fast terminal sliding mode surface (NFFTSMS) with fixed-time convergence is presented, and the pre-established settling time is also developed. Moreover, a novel adaptive non-singular fixed-time fast terminal sliding mode control (ANFFTSMC) is presented by employing a fixed-time disturbance observer, a fixed-time differentiator and the proposed NFFTSMS. Closed-loop stability of the proposed controller is proved by utilizing the Lyapunov methodology. Finally, numerical simulations including two typical launch trajectories of the missile are carried out to demonstrate the strong robustness of the proposed control scheme.
KeywordsSubmarine-launched missile Attitude tracking control Non-singular fixed-time fast terminal sliding mode control Multiple disturbances Fixed-time disturbance observer Fixed-time differentiator
The authors would like to thank the financial supports by the National Nature Science Fund of China (Grant No. 61403100), the open Fund of National Defense Key Discipline Laboratory of Micro-Spacecraft Technology (Grant No. HIT.KLOF.MST.201704), and the Fundamental Research Funds for the Central Universities (Grant No. HIT.NSRIF.2015.037).
Compliance with ethical standards
Conflict of interests
The authors declare that there is no conflict of interest regarding the publication of this paper.
- 1.Wang, Y.J.: Research on the attitude control and trajectory optimization in the process of water-exit for the submarine-launched missile (Master Dissertation). Harbin Institute of Technology, Harbin, China (2017)Google Scholar
- 2.Qi, Q., Chen, Q.G., Zhou, Y., Wang, H.Y., Zhou, H.M.: Submarine-launched cruise missile ejecting launch simulation and research. In: 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, pp. 4542–4545. Harbin, China (2011)Google Scholar
- 3.Zhang, Z.X.: Dynamics modeling and simulation of water-exit course of small submarine-launched missile under wave disturbance. J. Natl. Univ. Def. Technol. 37(6), 91–95 (2015)Google Scholar
- 4.Yang, J., Feng, J.F., Li, Y.L., Liu, A., Hu, J.H., Ma, Z.C.: Water-exit process modeling and added-mass calculation of the submarine-launched missile. Pol. Marit. Res. 24, 152–164 (2017)Google Scholar
- 5.Gao, Q.S.: The underwater vehicle motion control and research of visual simulation technology. Harbin Engineering University (Master Dissertation). Harbin, China (2011)Google Scholar
- 8.Xu, X.Q., Tian, B., Li, B.S.: The model and simulation of submarine to surface missile underwater trajectory. J. Proj. Rockets Missiles Guid. 30(5), 149–152 (2010)Google Scholar
- 9.Bai, Y.L.: Research on the dynamics and nonlinear control of the submarine-launched missile in multimedia environment (Ph.D. Dissertation). Harbin Institute of Technology. Harbin, China (2013)Google Scholar
- 10.Ge, D.H., Zhu, H., Cai, P., Liu, H.G., Huang, X.: Attitude sliding mode control of deep-sea submerged buoy based on feedback linearization. Fire Control Command Control 41(1), 16–18 (2016)Google Scholar
- 12.Wu, Y.J., Zuo, J.X., Sun, L.H.: Smooth backstepping sliding mode control for missile attitude system based on parameters online adjusting and estimating for square of disturbance upper bound, Proc. Inst. Mech. Eng. Part G. J. Aerosp. Eng. (2017). https://doi.org/10.1177/0954410017725362 Google Scholar
- 22.Drakunov, S., Dogruel, M., Ozguner, U.: Sliding mode control in hybrid systems. In: Proceedings of the 1993 IEEE International Symposium on Intelligent Control, pp. 186–189, Chicago, USA (1993)Google Scholar
- 42.Chen, K.J.: Launch Vehicle Flight Dynamics and Guidance. National Defense Industry Press, Beijing (2014)Google Scholar
- 43.Yan, W.S.: Torpedo Navigation Mechnics. Northwestern Polytechnical University Press, Xian (2005)Google Scholar