Integrated Guidance and Control Based on Improved Backstepping Method Under Input Saturation and Attitude Angle Constraints

In order to improve the penetration ability of missiles in the end guidance stage, and considering the delay problem when designing the guidance control loop separately, this article mainly studies the design problem of an integrated guidance control law under input saturation and attitude angle constraints. For the lower triangular structure model of the integrated guidance and control system, this article mainly uses an improved backstepping method to design the controller, and introduces an error compensation term in the design of the virtual controller to improve system stability. Introducing auxiliary variables and barrier Lyapunov functions to handle saturation and state constraint problems; in the face of the main problems of atmospheric disturbances, unmodeled dynamic errors of the system, and unknown acceleration of the target, this article mainly adopts a finite time observer for processing. The final simulation results demonstrate the effectiveness and superiority of the controller designed in this article.