基于扩张状态观测器的反鱼雷鱼雷迎面拦截制导律

基于雷目相对运动方程，把迎面拦截问题描述成具有终端角约束的最优控制问题，针对鱼雷自导头难以测量视线角速率的难题，提出了一种基于扩张状态观测器的目标视线角速率实时在线估计方法，同时估计出目标机动引起的不确定干扰量，并基于线性化的侧向运动方程求解出反鱼雷鱼雷舵角控制指令，从而实现了含有干扰补偿的迎面拦截最优制导律。仿真结果表明，与传统的比例导引律相比，该最优制导律具有很好的迎面拦截效果。

Extended State Observer-Based Head-on Intercept Guidance Law for Anti-Torpedo Torpedo

According to the equations of relative movement between anti-torpedo torpedo（ATT） and incoming torpedo, the head-on interception problem is described as an optimal control problem with finial angle constraint. Because the angular rate of line-of-sight is difficult to be obtained by homing system of ATT, an extended state observer is designed for estimating the angular rate and the value of uncertain disturbance caused by incoming torpedo maneuvering, and the control rudder angle can be calculated by solving the linear horizontal dynamical equations of ATT. Hence, the optimal guidance law with disturbance compensation is implemented. Simulation results show that the proposed optimal guidance law gains better head-on interception performance than the traditional proportion guidance law.