Extended State Observer-Based Head-on Intercept Guidance Law for Anti-Torpedo Torpedo

According to the equations of relative movement between anti-torpedo torpedo(ATT) and incoming torpedo, the head-on interception problem is described as an optimal control problem with finial angle constraint. Because the angular rate of line-of-sight is difficult to be obtained by homing system of ATT, an extended state observer is designed for estimating the angular rate and the value of uncertain disturbance caused by incoming torpedo maneuvering, and the control rudder angle can be calculated by solving the linear horizontal dynamical equations of ATT. Hence, the optimal guidance law with disturbance compensation is implemented. Simulation results show that the proposed optimal guid-ance law gains better head-on interception performance than the traditional proportion guidance law.