基于微分对策的水下主动防御拦截导引方法
Underwater Active Defense Intercept Guidance Method Based on Differential Game

针对来袭水下目标机动方式的无法预知的问题，为实现精确拦截，以目标捕获条件为约束，设计了一种用于水下机动目标拦截的微分对策导引律。以微分博弈理论为基础，构造用于双边最优控制的二次型性能指标，利用伴随原理求解终端问题的方法导出具有状态反馈形式“零效脱靶量”，并以其为性能指标设计用于航向角控制的微分对策制导律。通过对机动目标的跟踪拦截表明：该制导律对目标机动方式具有较强的鲁棒性，与最优导引相比，对机动目标的拦截精度高，可满足水下拦截作战技术需求。
The differential game guidance law is designed for intercepting the underwater maneuvering target precisely with the constraint conditions that the interceptor must capture the targets in considering of the unpredictability of the actual target maneuver. Based on the differential game theory, the bilateral optimal control quadratic performance index is combined, and the zero miss-distance with the state-feedback is derived by adopting the method of adjoint principle to solve the terminal problem, which can is used as the index of the differential guidance law to control the head angle of the interceptor. The results show that the presented guidance law guarantees perfect intercept for intercept for maneuvering target and has good robustness to target maneuver. Compared with optimal guidance, the different maneuvering target can be intercepted more effectively, which can meet the demand of underwater interception war techniques