Control Contraction Metrics Based Robust Tracking Guidance for Hypersonic Glide Vehicle in Terminal Phase

In this paper, a robust tracking guidance method based on Control Contraction Metrics (CCM) is proposed for Hypersonic Glide Vehicle (HGV) in terminal phase subject to multiple terminal constraints and disturbances. Firstly, we solve the CCM synthesis problem of HGV model, in which the conditions for CCM are transformed mto convex constramts, formulating the synthesis problem of CCM as a convex optimization problem. Then, m order to simphfy the design of CCM, we choose to linearize HGV's model on the nominal trajectory and desigu an algorithm to solve the simphfied problem usmg convex optimization. Finally, a feedback tracking guidance law based on CCM is formulated as the solution of an optimization problem minimizing the control effort. Simulation results show that the proposed method is better than LQR m terms oftrackmg accuracy and robustness, which verifies the feasibility of applying the proposed method to the termmal guidance design of HGV.