Adaptive sliding mode attitude controller design for multi-missile cooperation

To deal with the problem of missile attitude control in the case of multi-missile formation, a quaternion missile model, which is a second order nonlinear system, is proposed in this note. Based on the quaternion model, a two-layer sliding mode controller is designed to track the desired attitude angles for a missile to achieve the 3-missile formation flight. The special two-layer structure of the controller makes it possible to meet the requirements of the attitude control for multi-missile cooperation. To solve the problems of the uncertainties in the system, an adaptive item is added to the controller. Also, the stability of the closed-loop system is analyzed. The simulation results illustrate that attitudes of the missile can converge to the references well.