考虑驾驶仪动态性能的指令滤波反演制导律

针对攻击机动目标的制导问题，设计了一种考虑自动驾驶仪性能、输入项约束的指令滤波反演制导律。首先，基于三维空间内弹目相对运动模型，采用反演递推方式设计制导律。针对传统反演控制存在的"微分膨胀"问题，引入指令滤波器对虚拟量进行过滤计算。考虑硬件计算能力的约束，引入自动驾驶仪二阶动力学模型减少控制过程延迟，并利用饱和函数和低通滤波器对输入项进行约束。此外，针对机动目标设计了一种扩张状态观测器来获取其加速度。通过Lyapunov理论证明了所设计闭环制导系统的稳定性。通过仿真实验验证了该制导律相有效性及优越性。

Command filtered backstepping guidance law considering autopilot dynamics

A command filtered backstepping guidance law considering autopilot dynamic characteristics and input constraints is designed for the guidance problem in attacking maneuvering targets. First, based on the relative motion model of missiles and targets in three-dimensional space, the guidance law is designed by back-stepping method. A command filter is introduced to filter the virtual quantity to solve the problem of "differential expansion" in the traditional back-stepping control. Considering the constraints of hardware computing power, we adopt the second order dynamics model of the autopilot to reduce the delay of actual control process, with the input constrained by the saturation function and the low pass filter. We further design an extended state observer to estimate the acceleration of maneuvering targets. Based on the Lyapunov stability theory, the stability of the designed closed loop guidance system is tested. The effectiveness and superiority of the guidance law are verified by simulation.