针对驾束制导导弹,运用超扭曲二阶滑模控制理论,提出了一种一体化制导控制算法.通过充分考虑目标不确定因素以及控制回路未建模状态,建立了一体化制导控制回路的四阶状态方程.运用该状态方程的转移矩阵,重新定义了零能脱靶量(ZEM),使其不再需要估计剩余时间,并将此作为滑模切换面,设计了一体化超扭曲二阶滑模制导律.通过对目标的拦截仿真,结果表明制导线偏差可在有限时间内收敛到零,从而验证了选择新定义的ZEM作为制导律的滑模切换面是有效的.数字仿真结果也表明了该一体化设计方法明显优于不考虑控制回路的传统制导律设计方法.“,”An Integrated Guidance-Control(IGC) law is proposed , using the super-twisting second order Sliding Mode Control(SMC) method, for the beam-riding guidance missiles . The fourth order state equation for integrated guidance and control loop was formulated taking into consideration the target uncertainties and control loop dynamics. Based on the transition matrix of the state equation, the zero-effort miss (ZEM) was redefined without calculating the time-to-go. By choosing the ZEM as a single sliding surface, the integrated super-twisting second order sliding mode guidance law was obtained. Simulation results show that ZEM and guidance range error could converge to zero in a finite time almost without any overshoot. The advantages of the integrated guidance are also validated by comparing with the conventional guidance without considering control loop.