Aiming at the terminal impact-angle constraint in the interception of large maneuvering targets, this paper proposes a three-dimensional (3D) interception guidance law combined with the high-order fully-actuated system approach and the cascaded linear extended state observer (LESO). First, a complete second-order nonlinear model with full actuated characteristics is developed for the missile-target relative dynamics without small-angle assumption. Subsequently, the nonlinear system is transformed into a quasi-feedback system, and then, a high-order fully-actuated model is developed. A cascaded LESO able to estimate the system state and target maneuver information is introduced, and the controller is designed to convert the closed-loop system into a linear time-invariant closed-loop system with the desired characteristic structure, which makes the closed-loop system have the desired closed-loop poles. Finally, the controller parameter matrix is solved using the desired closed-loop poles, and the convergence is validated by the Lyapunov stability theory. Consequently, the linearization of the 3D nonlinear system is realized, and the channel coupling is eliminated. The effectiveness of the proposed method is verified by simulation and analysis.

针对大型机动目标拦截中的末端撞击角约束，提出了一种结合高阶全驱动系统方法和级联线性扩展状态观测器（LESO）的三维（3D）拦截制导律。 . 首先，在没有小角度假设的情况下，针对导弹-目标相对动力学开发了具有全驱动特性的完整二阶非线性模型。随后，将非线性系统转化为准反馈系统，然后开发了高阶全驱动模型。引入了能够估计系统状态和目标机动信息的级联 LESO，控制器设计用于将闭环系统转换为具有所需特征结构的线性时不变闭环系统，这使得闭环系统具有所需的闭环极点。最后，使用所需的闭环极点求解控制器参数矩阵，并通过李亚普诺夫稳定性理论验证收敛性。从而实现了三维非线性系统的线性化，消除了通道耦合。通过仿真和分析验证了所提方法的有效性。