Missile IGC Based on Improved Model Predictive Control and Sliding Mode Observer

Algorithm 1

MPC algorithm.

Algorithm: MPC methodology

1: Obtain the initial variables and state matrices of the system through the initial state of the missile.

2: Discrete the original system to obtain (26).

3: Take the iteration processing to obtain (33), and the is the number of iterations.

4: The optimization objective function (35) is determined by (33), and then, the quadratic programming is performed under constraints (37)–(41).

5: Finally, a set of control increments (42) is obtained, and the is imposed on the original system to obtain the minimizing control sequence . And the estimate of the disturbance is solved based on SMDO.

6: Apply the composite control signal to the real system.

7: Update the time of again and return to the first step to restart.