【摘要】 利用变结构控制对干扰和参数摄动的“完全自适应性”，设计出了一种基于运动跟踪变结构控制的鱼雷制导律，并将其应用于被动方式的水下目标跟踪问题中。结果表明，该制导律可以令相对视线角速度按照给定的运动规律变化，从而大大增强了被动跟踪问题的可观性，且对干扰和参数摄动具有较强的鲁棒性，易于工程化问题的处理。更多还原

【Abstract】 By applying the "full adaptability" of the variable structare to the noise and parameter distarbance,a guidance low based on motion tracking variable structure is designed for a torpedo,which can be used for the underwater passive target tracking. The simulation results show that the proposed guidance law can change the relative sight angle according to the regular of given motion,so that the observability of the passive target tracking is greatly enhanced and a satisfactory robutness to the noise and parameter disturbance can be achieved.更多还原