基于最优误差动力学的时间角度控制制导律

针对带有攻击时间和终端攻击角度约束的导弹制导问题，设计了一种基于最优误差动力学的时间角度控制制导律，并给出了明确的性能指标。推导广义最优角度控制制导律作用下的剩余飞行时间估算表达式，在广义最优角度控制制导律的基础上增加攻击时间误差反馈项，将攻击时间误差看做跟踪误差，设计的制导律使跟踪误差以最优模式在有限时间内收敛到零，最终实现攻击时间和终端攻击角度的共同控制。对不同参数下的情况进行仿真，验证了所提制导律的有效性。

Time and angle control guidance law based on optimal error dynamics

To solve the missile guidance with constraints of impact time and terminal impact angle, a time and angle control guidance law based on optimal error dynamics is designed, and a definite performance index is given. The expression of time to go estimation under generalized optimal angle control guidance law is derived. To reach zero tracking error in the finite time with the optimal convergence pattern, the designed guidance law adds the feedback of impact time error to the generalized guidance law of optimal angle control and considers the impact time error as the tracking error, achieving the joint control of the impact time and the terminal impact angle. The effectiveness of the proposed guidance law is validated through numerical simulations under different conditions.