中文摘要：

针对水下动能武器末制导段攻击机动目标，为获得最佳的毁伤效果，结合反演滑模控制方法与线性扩张状态观测器理论，设计了一种带角度约束的非线性制导律。通过对攻击角度的分析，设计了非线性滑模面，并根据滑模面可达条件，将制导律分为两部分设计，既满足了系统能够到达滑模面，又保持了系统状态在滑模面上运动。通过反演变结构获得的制导律，既保证了系统稳定，又具有了滑模控制理论所具有的鲁棒性。考虑到目标机动，将目标机动作为未知扰动，并对该扰动采用线性扩张状态观测器进行估计。该制导律作用下，视线角变化率收敛到零，攻击角度收敛到期望值，实现攻击角度约束。理论证实了制导系统的稳定性，仿真验证了本文所设计制导律的有效性。

英文摘要：

For the terminal phase of underwater kinetic energy weapon impacting the maneuvering targets, the terminal guidance problem is studied to get better damage effect. Based on the backstepping sliding mode control method and the linear extended state observer, a nonlinear guidance law with impact angle constraints is proposed. Through analyzing numerical aspects of the impact angle, the nonlinear sliding mode surface is de- signed, and according to the sliding mode reaching condition, the guidance law is divided into two parts which ensure the system can reach and move on the sliding mode surface. The designed guidance law guarantees the stability and robustness of the system. Considering the target maneuvering, the target maneuvering is considered as an unknown disturbance which is estimated by the linear extended state observer. The designed guidance law can guarantee the line of sight angular rate converge to zero and impact angle converge to a desired value. Theoritical analysis and simulation results show that the stability and effectiveness of the presented approach respectively.