In this paper, a robust three-dimensional guidance law against manoeuvering targets is designed using the approach of discrete-time partial stabilisation. In the proposed method, the equations of the guidance problem are divided into two subsystems where the asymptotic stability is desired only for the first one. The control input of the second subsystem is designed such that the collision to be ensured in a short time. Despite recent advances in technology and implementation of digital controllers, the design of guidance laws with the approach of discrete-time partial stabilisation has not been done, till now. One of the advantages of this paper is to design a discrete-time guidance law even with the difficulties of the discrete-time Lyapunov theorem. Moreover, the Lyapunov function is chosen based on the physics of the guidance problem (making the rate of line of sight (LOS) rotation close to zero), and it is shown that it is not possible to asymptotically stabilise the system in the case of manoeuvering targets. Nevertheless, to guarantee the collision with the target, it is enough to limit the rotation rate of LOS to a small value. Finally, simulation results are given to show the appropriate performance of the proposed guidance law.

中文翻译：

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针对机动目标的离散时间鲁棒制导律设计中的部分镇定方法

在本文中，使用离散时间部分稳定的方法设计了一种针对机动目标的稳健的三维制导律。在所提出的方法中，制导问题的方程被分为两个子系统，其中仅需要第一个子系统的渐近稳定性。第二子系统的控制输入被设计成在短时间内确保碰撞。尽管最近在数字控制器的技术和实施方面取得了进展，但到目前为止还没有完成采用离散时间部分稳定方法的制导律设计。本文的优点之一是即使存在离散时间李雅普诺夫定理的困难，也能设计出离散时间制导律。而且，Lyapunov 函数的选择基于制导问题的物理特性（使视线 (LOS) 旋转率接近于零），并且表明在机动目标的情况下不可能渐近稳定系统. 然而，为了保证与目标的碰撞，将 LOS 的旋转速度限制在一个很小的值就足够了。最后，给出了仿真结果，以显示所提出的制导律的适当性能。