Three-stage Trajectory Planning and Control of Miniature Munition

The two-stage launched miniature munition with laser beam riding steered system can't enter the laser information field at the initial time, and difficult to obtain the guidance information to strike the moving target. This paper proposes a design frame including geometric trajectory planning and sliding mode guidance for miniature guided munition. The pitch trajectory is divided into three stages described with explicit polynomials. The switching point of two stages is designed, and the parameters of polynomial curves are solved using the continuous and derivable properties to avoid chattering. The polynomial curve be also adopted as the expected trajectory for yaw channel. A numerical example for miniature guided munition with sliding mode control is demonstrated for the validity and practicability of the proposed method.