中文摘要：

基于三维球坐标系下目标-导弹相对运动方程，考虑导弹自动驾驶仪动态特性，应用递推Lyapunov方法设计了一种三维非线性导引律。在设计的过程中，不需要消去三维制导动力学方程中的非线性耦合项，使得导引规律的最终表达形式得以极大简化。该导引律有效地克服了导弹控制系统的动态延迟对制导精度的影响。仿真结果表明，在目标做大机动逃逸，导弹自动驾驶仪存在较大滞后情况下，这种导引律仍具有很高的制导精度。

英文摘要：

Based on the target-missile nonlinear dynamics expressed in spherical coordinate and with consideration of the dynamics of missile autopilot, a three-dimensional nonlinear guidance law is designed by using the recursive Lyapunov method. The design does not have to cancel the nonlinear terms in the target-missile dynamics such that the final expression of guidance law has been significantly simplified. The proposed law is effective in compensating the influence of autopilot delay on guidance accuracy, Simulation resuhs show that the guidance law still guarantees an exact guidance, even if the target escapes in a great maneuver and the autopilot has a relatively large delay.