This paper proposes a practical optimal guidance law that can handle terminal angle and acceleration constraints while providing robustness against uncertainty in autopilot dynamics. Building upon a well-established linear-quadratic optimal guidance framework, we first derive an energy-minimizing guidance scheme that nullifies terminal acceleration called optimal guidance law with impact angle and terminal acceleration constraints (OGL–IATA). Then, a practical modification to OGL–IATA is proposed to deal with the stability degradation of OGL–IATA due to unmodeled high-order autopilot dynamics. The modification primarily features feedback of pseudo-acceleration that is computed by passing the true acceleration signal through approximate missile dynamics; this simple modification is demonstrated to improve the stability margin of the guidance loop. Numerical examples of nonlinear engagement kinematics demonstrate the performance and the robustness characteristics of the proposed practical guidance scheme.

本文提出了一种实用的最佳制导律，该律可以处理终端角度和加速度约束，同时提供针对自动驾驶动力学不确定性的鲁棒性。在一个完善的线性二次最优导引框架的基础上，我们首先导出一种能量最小化的导引方案，该方案将具有碰撞角度和终端加速度约束（OGL–IATA）的最优导引定律无效。然后，对OGL-IATA进行了实用修改，以解决由于未建模的高阶自动驾驶仪动力学而导致的OGL-IATA稳定性下降的问题。修改的主要特征是通过将真实的加速度信号传递给近似的导弹动力学来计算伪加速度的反馈。这个简单的修改被证明可以提高制导回路的稳定性。