中文摘要：

针对球坐标系下的三维导弹与目标相对运动模型，基于零化导弹与目标视线角速度的思想，在不依赖于碰撞线附近线性化的假设的情况下，设计了满足输入．状态稳定性（ISS）理论的非线性鲁棒导引律。该导引律的设计不需对目标机动加速度做自适应估计，在目标运动信息完全未知的情况下可实现对机动目标的扰动抑制、跟踪和拦截。仿真结果表明，所设计的导引律对做复杂大机动逃逸运动的目标仍有较强的跟踪性和鲁棒性，并可得到满意的脱靶量。

英文摘要：

The three-dimensional relative motion model of missile and target, the robust nonlinear guidance laws are derived based on the idea of zeroing normal speed of LOS （ line of sight） and the theory of input-to-state stability （ ISS）, without the linearization assumption. The design of the guidance law does not need to adaptively estimate the target aceeleration. Without any information of target motion, the guidance law can exhibit good performance in suppressing the disturbance from target escape maneuvering. And it achieves tracking and the interception of the maneuvering target. The simulation results show that the guidanee law possesses strong robustness property and good tracking performance with respect to the maneuvering targets.