JEON I S , LEE J I , TAHK M J . Impact-time-control guidance law for anti-ship missiles [J ] . IEEE Transactions on Control Systems Technology , 2006 , 14 ( 2 ): 260 - 266 . DOI: 10.1109/TCST.2005.863655 http://doi.org/10.1109/TCST.2005.863655 https://ieeexplore.ieee.org/document/1597196/ https://ieeexplore.ieee.org/document/1597196/

WANG J W , ZHANG R . Terminal guidance for a hypersonic vehicle with impact time control [J ] . Journal of Guidance, Control, and Dynamics , 2018 , 41 ( 8 ): 1789 - 1797 .

LEE S , CHO N , KIM Y . Impact-time-control guidance strategy with a composite structure considering the seeker’s field-of-view constraint [J ] . Journal of Guidance, Control, and Dynamics , 2020 , 43 ( 8 ): 1566 - 1574 . DOI: 10.2514/1.G005063 http://doi.org/10.2514/1.G005063 https://arc.aiaa.org/doi/10.2514/1.G005063 https://arc.aiaa.org/doi/10.2514/1.G005063

CHO N , KIM Y . Modifiedpure proportional navigation guidance law for impact time control [J ] . Journal of Guidance, Control, and Dynamics , 2016 , 39 ( 4 ): 852 - 872 . DOI: 10.2514/1.G001618 http://doi.org/10.2514/1.G001618 https://arc.aiaa.org/doi/10.2514/1.G001618 https://arc.aiaa.org/doi/10.2514/1.G001618

JEON I S , LEE J I , TAHK M J . Impact-time-control guidance with generalized proportional navigation based on nonlinear formulation [J ] . Journal of Guidance, Control, and Dynamics , 2016 , 39 ( 8 ): 1887 - 1892 .

李斌 , 林德福 , 何绍溟 , 等 . 基于最优误差动力学的时间角度控制制导律 [J ] . 航空学报 , 2018 , 39 ( 11 ): 322215 . DOI: 10.7527/S1000-6893.2018.22215 http://doi.org/10.7527/S1000-6893.2018.22215 针对带有攻击时间和终端攻击角度约束的导弹制导问题，设计了一种基于最优误差动力学的时间角度控制制导律，并给出了明确的性能指标。推导广义最优角度控制制导律作用下的剩余飞行时间估算表达式，在广义最优角度控制制导律的基础上增加攻击时间误差反馈项，将攻击时间误差看做跟踪误差，设计的制导律使跟踪误差以最优模式在有限时间内收敛到零，最终实现攻击时间和终端攻击角度的共同控制。对不同参数下的情况进行仿真，验证了所提制导律的有效性。

LI B , LIN D F , HE S M , et al . Time and angle control guidance law based on optimal error dynamics [J ] . Acta Aeronautica et Astronautica Sinica , 2018 , 39 ( 11 ): 322215 . (in Chinese) DOI: 10.7527/S1000-6893.2018.22215 http://doi.org/10.7527/S1000-6893.2018.22215 To solve the missile guidance with constraints of impact time and terminal impact angle, a time and angle control guidance law based on optimal error dynamics is designed, and a definite performance index is given. The expression of time to go estimation under generalized optimal angle control guidance law is derived. To reach zero tracking error in the finite time with the optimal convergence pattern, the designed guidance law adds the feedback of impact time error to the generalized guidance law of optimal angle control and considers the impact time error as the tracking error, achieving the joint control of the impact time and the terminal impact angle. The effectiveness of the proposed guidance law is validated through numerical simulations under different conditions.

CHO D , KIM H J , TAHK M J . Nonsingular sliding mode guidance for impact time control [J ] . Journal of Guidance, Control, and Dynamics , 2016 , 39 ( 1 ): 61 - 68 . DOI: 10.2514/1.G001167 http://doi.org/10.2514/1.G001167 https://arc.aiaa.org/doi/10.2514/1.G001167 https://arc.aiaa.org/doi/10.2514/1.G001167

陈升富 , 常思江 , 吴放 . 带有视场角约束的滑模攻击时间控制制导律 [J ] . 兵工学报 , 2019 , 40 ( 4 ): 777 - 787 . DOI: 10.3969/j.issn.1000-1093.2019.04.013 http://doi.org/10.3969/j.issn.1000-1093.2019.04.013 为提高攻击时间控制制导律的鲁棒性和工程适应性，以弹目拦截几何关系为基础，采用滑模技术设计了一种带导引头视场角约束的无奇点攻击时间控制制导律。通过Lyapunov理论证明了该制导律的稳定性和收敛性。理论分析及仿真结果表明：当攻击时间误差变为0 s时，该制导律可演变成纯比例导引律，末端需用过载变化平缓、命中点处为0 g；所设计制导律可有效实现静止目标拦截、多导弹协同攻击等场合的攻击时间控制。

CHEN S F , CHANG S J , WU F . A sliding mode guidance law for impact time control with field of view constraint [J ] . Acta Armamentarii , 2019 , 40 ( 4 ): 777 - 787 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2019.04.013 http://doi.org/10.3969/j.issn.1000-1093.2019.04.013 To improve the robustness and engineering adaptability of the impact time control guidance law, a nonsingular impact time control guidance law with seeker's field of view constraint is designed using sliding mode technique based on the geometrical relation of projectile interception. The stability and convergence of the proposed guidance law are proved by Lyapunov theory. The theoretically analyzed and simulated results show that, when the impact time error is zero, the proposed guidance law can evolve into a pure proportional navigation guidance law, and the required terminal acceleration of the proposed guidance law is fairly smooth, converging to zero during interception. The proposed guidance law can be used to effectively control the impact time for stationary target interception and multi-missile cooperative attack. Key

TEKIN R , RERE K S , HOLZAPFEL F . Quartic range shaping for impact time control [C ] // Proceedings of the 2017 25th Mediterranean Conference on Control and Automation. Valletta, Malta:IEEE , 2017 : 1213 - 1218 .

TEKIN R , RERE K S , HOLZAPFEL F . Impact time control with generalized-polynomial range formulation [J ] . Journal of Guidance, Control, and Dynamics , 2018 , 41 ( 5 ): 1188 - 1193 .

TEKIN R , RERE K S , HOLZAPFEL F . Control of impact time with increased robustness via feedback linearization [J ] . Journal of Guidance, Control, and Dynamics , 2016 , 39 ( 7 ): 1678 - 1685 . DOI: 10.2514/1.G001513 http://doi.org/10.2514/1.G001513 https://arc.aiaa.org/doi/10.2514/1.G001513 https://arc.aiaa.org/doi/10.2514/1.G001513

TEKIN R , RERE K S , HOLZAPFEL F . Polynomial shaping of the look angle for impact time control [J ] . Journal of Guidance, Control, and Dynamics , 2017 , 40 ( 10 ): 2666 - 2671 .

JEON I S , LEE J I . Impact-time-control guidance law with constraints on seeker look angle [J ] . IEEE Transactions on Aerospace and Electronic Systems , 2017 , 53 ( 5 ): 2621 - 2627 . DOI: 10.1109/TAES.2017.2698837 http://doi.org/10.1109/TAES.2017.2698837 http://ieeexplore.ieee.org/document/7913685/ http://ieeexplore.ieee.org/document/7913685/

TEKIN R , RERE K S , HOLZAPFEL F . Adaptive impact time control via look-angle shaping under varying velocity [J ] . Journal of Guidance, Control, and Dynamics , 2017 , 40 ( 12 ): 3247 - 3255 . DOI: 10.2514/1.G002981 http://doi.org/10.2514/1.G002981 https://arc.aiaa.org/doi/10.2514/1.G002981 https://arc.aiaa.org/doi/10.2514/1.G002981

CHEN X T , WANG J Z . Nonsingular sliding-mode control for field-of-view constrained impact time guidance [J ] . Journal of Guidance, Control, and Dynamics , 2018 , 41 ( 5 ): 1210 - 1218 .

吴放 , 常思江 , 陈升富 . 基于终端滑模理论的攻击时间控制制导律 [J ] . 系统工程与电子技术 , 2019 , 41 ( 10 ): 2335 - 2342 .

WU F , CHANG S J , CHEN S F . Impact time control guidance law based on terminal sliding mode theory [J ] . Systems Engineering and Electronics , 2019 , 41 ( 10 ): 2335 - 2342 . (in Chinese)

HU Q L , HAN T , XIN M . Sliding-mode impact time guidance law design for various target motions [J ] . Journal of Guidance, Control, and Dynamics , 2019 , 42 ( 1 ): 136 - 148 . In this paper, two kinds of sliding-mode guidance laws with impact time constraint are proposed for intercepting various target motions, including nonmaneuvering and maneuvering targets. To achieve the desired impact time, the line-of-sight (LOS) dynamics is controlled to track a novel time-varying LOS profile created by the LOS rate-shaping approach. Unlike the existing LOS rate-shaping approaches that transform the equations of motion with the downrange variable as the independent variable, no such manipulation is necessary in this technique by virtue of a polynomial LOS profile in time. To nullify the LOS tracking error, the terminal sliding-mode technique is used to obtain a finite time convergent guidance law against nonmaneuvering targets, and it is combined with the inertial-delay control to derive an ultimately bounded guidance law against maneuvering targets. Furthermore, fast online determination of the single tuning parameter involved in the LOS profile is provided via a systematic parameter selection methodology. This technique is user/designer-friendly in that it does not involve the error-prone estimates of time-to-go and predictive interception point. Numerical simulations under time-varying velocities and various target maneuvers are conducted to validate the effectiveness and robustness of the proposed guidance law.

CHANG S J , CHEN S F . Nonsingular PNG-based impact time control guidance with lower dependence on time-to-go estimate [J ] . International Journal of Aerospace Engineering , 2019 : 5031245 .

GUO Y H , LI X , ZHANG H J , et al . Data-driven method for impact time control based on proportional navigation guidance [J ] . Journal of Guidance, Control, and Dynamics , 2020 , 43 ( 5 ): 955 - 966 . DOI: 10.2514/1.G004669 http://doi.org/10.2514/1.G004669 https://arc.aiaa.org/doi/10.2514/1.G004669 https://arc.aiaa.org/doi/10.2514/1.G004669

刘子超 , 王江 , 何绍溟 , 等 . 基于预测校正的落角约束计算制导方法 [J ] . 航空学报 , 2021 , 42 : 325433 .

LIU Z C , WANG J , HE S M , et al . A computational guidance algorithm for impact angle control based on the predictor-corrector concept [J ] . Acta Aeronautica et Astronautica Sinica , 2021 , 42 : 325433 . (in Chinese)

HE S M , SHIN H S , TSOURDOS A . Computational missile guidance: a deep reinforcement learning approach [J ] . Journal of Aerospace Information Systems , 2021 , 18 ( 8 ): 571 - 582 . DOI: 10.2514/1.I010970 http://doi.org/10.2514/1.I010970 https://arc.aiaa.org/doi/10.2514/1.I010970 https://arc.aiaa.org/doi/10.2514/1.I010970

方科 , 张庆振 , 倪昆 , 等 . 飞行时间约束下的再入制导律 [J ] . 哈尔滨工业大学学报 , 2019 , 51 ( 10 ): 90 - 97 .

FANG K , ZHANG Q Z , NI K , et al . Reentry guidance law with flight time constraint [J ] . Journal of Harbin Institute of Technology , 2019 , 51 ( 10 ): 90 - 97 . (in Chinese)

张晚晴 , 余文斌 , 李静琳 , 等 . 基于纵程解析解的飞行器智能横程机动再入协同制导 [J ] . 兵工学报 , 2021 , 42 ( 7 ): 1410 - 1411 .

ZHANG W Q , YU W B , LI J L , et al . Cooperative reentry guidance for intelligent lateral maneuver of hypersonic vehicle based on downrange analytical solution [J ] . Acta Armamentarii , 2021 , 42 ( 7 ): 1410 - 1411 . (in Chinese)

余跃 , 王宏伦 . 基于深度学习的高超声速飞行器再入预测校正容错制导 [J ] . 兵工学报 , 2020 , 41 ( 4 ): 656 - 669 . DOI: 10.3969/j.issn.1000-1093.2020.04.005 http://doi.org/10.3969/j.issn.1000-1093.2020.04.005 针对故障条件下高超声速飞行器的容错制导问题，提出一种基于深度学习的预测校正容错制导算法。在纵向制导律设计中，求解故障下满足配平要求的攻角剖面和升力、阻力系数；构建并训练输入端包含升力、阻力系数变化量的深度神经网络来预测落点，以避免传统预测校正制导算法中大量的积分运算；侧向制导采用基于航向角误差走廊的倾侧角反转逻辑；构造扩张状态观测器对气动参数变化量进行估计，实时输入深度神经网络。仿真结果表明，所设计的容错制导算法制导精度高、实时性好，且在故障和参数摄动条件下能实时解算出满足飞行要求的制导指令。

YU Y , WANG H L . Deep learning-based reentry predictor-corrector fault-tolerant guidance for hypersonic vehicles [J ] . Acta Armamentarii , 2020 , 41 ( 4 ): 656 - 669 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.04.005 http://doi.org/10.3969/j.issn.1000-1093.2020.04.005 A deep learning-based predictor-corrector fault-tolerant guidance method is proposed for fault-tolerant guidance of hypersonic vehicles. In the design of longitudinal guidance law, the trimmable angle of attack profile and the coefficients of lift and drag in case of fault are calculated. A deep neural network which inputs contain variations of lift and drag coefficients is developed to predict landing point, thus avoiding large quantities of integral operations in traditional predictor-corrector guidance method. A bank angle reversal logic based on heading angle error corridor is designed for the lateral guidance. Extended state observer is constructed to estimate the variations of lift and drag coefficients, and the estimates are input into the deep neural network. Simulated result shows that the proposed fault-tolerant guidance algorithm has high guidance precision and excellent real-time characteristics and can calculate guidance command which meets flight requirements in real time. Key

CHENG L , JIANG F H , WANG Z B , et al . Multiconstrained real-time entry guidance using deep neural networks [J ] . IEEE Transactions on Aerospace and Electronic Systems , 2021 , 57 ( 1 ): 325 - 340 . DOI: 10.1109/TAES.7 http://doi.org/10.1109/TAES.7 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7