Composite Terminal Guidance Law for Supercavitating Torpedoes with Impact Angle Constraints

Figure 5

Simulation results in Case 2. (a) Trajectories of target and torpedo. (b) Occurrence of sliding mode. (c) LOS angle error. (d) LOS angular rate error. (e) Acceleration of torpedo. (f) Change of adaptive gains.

(a)

(b)

(c)

(d)

(e)

(f)