过虚拟交班点的能量最优制导律

针对固定目标的导弹过虚拟交班点制导问题，在希尔伯特空间下，基于最优化理论设计了有无终端落角约束两种情况下的全局能量最优制导律。通过对模型进行线性化，将提出的最优制导模型转化为线性二次型最优控制问题，在此基础上利用零控脱靶量（ZEM）概念对系统模型进行降阶，并推导出解析解。设计的制导律可以使导弹准确经过虚拟交班点，并实现期望终端落角。仿真结果表明，与经典制导律对比，该制导律可以显著减少全局控制能量消耗。

Energy-optimal guidance law with virtual hand-over point

Aiming at the problem of fixed target missile guidance with virtual hand-over point, a global energy optimal guidance law with/without terminal angle constraint is designed based on the optimization theory in Hilbert space. By linearizing the model, the proposed optimal guidance model is transformed into a linear quadratic opti-mal control problem. Then the concept of Zero-Effort-Miss (ZEM) is used to reduce the order of the system, deriving the analytical solution. The proposed guidance law can ensure the missile pass through the virtual hand-over point accurately and reached the desired terminal angle. The simulation results show that, compared with the classical guidance law, the proposed guidance law can significantly reduce the energy consumption of global control.