考虑驾驶仪动态性能的指令滤波反演制导律

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.