In this paper, we use Higher-Order Sliding Mode (HOSM) control to perform trajectory shaping for non-line-of-sight delivery of a mortar round that has been fitted with a single canard. To minimize cost and maximize ease of use, no gyroscope or accelerometer (other than a low-quality roll sensor) is present. To afford aerodynamic stability, the fixed tail fins are canted to produce a dynamic-pressure dependent spin. To enhance accuracy, the round is fitted with a low-cost semi-active seeker of the quad-panel type. The result is a guided projectile with very limited control authority, a very complex response relationship, several uncertain or unknown flight parameters and partial-state feedback. Fortunately, velocities are low, commanded deviation from ballistic is slight, the target is stationary and our tolerance for miss is broad.
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