ABSTRACT
Manifold .......................................................................................... 204 6.3.4 Quasi-Continuous Control Algorithm ....................................... 205 6.3.5 Supertwisting Controller .............................................................. 206
6.3.5.1 Comparison of Supertwisting and Traditional SMC ................................................................................ 207
6.3.6 Smooth SOSM Control .................................................................. 209 6.3.6.1 Nonlinear Disturbance Observer/Differentiator ....... 209 6.3.6.2 Disturbance Cancellation ............................................... 210
6.4 Discussion on Properties of Traditional and Higher-Order SMC ...... 211 6.5 Mathematical Model and Problem Formulation ................................... 212
6.5.1 Interception Geometry .................................................................. 212 6.5.2 Missile Model ................................................................................. 213 6.5.3 Interception Strategy ..................................................................... 215
6.6 Control Architecture ................................................................................. 217 6.6.1 Outer (Guidance) Loop SSOSM Controller Design .................. 218 6.6.2 SSOSM Guidance Simulation Results ......................................... 219
6.7 Autopilot ..................................................................................................... 221 6.7.1 Inversion .......................................................................................... 221 6.7.2 Second-Order NDSM-Based Flight Path Angle Autopilot ......223 6.7.3 Second-Order NDSM-Based Pitch Rate Autopilot .................... 224 6.7.4 SOSM Supertwist-Based Angle-of-Attack Autopilot ................ 224 6.7.5 Integrated SOSM Guidance-Autopilot Simulation Results .....225 6.7.6 Higher-Order SMC Quaternion Autopilot .................................229
