针对复杂洋流干扰环境下水下多约束追踪问题，提出一种滚动时域非线性微分对策控制策略.基于智能体自导探测信息，建立水下追踪相对运动模型与追踪过程约束.通过分析追踪特性，确立以相对运动信息为变量的微分对策模型，结合零效控制和滚动预测算法的实施，设计出一种考虑过程约束和干扰的具有终端约束的水下追踪制导律.对不同期望终端交会角进行追踪的仿真结果表明，该制导策略能有效对抗干扰、实时调整约束，具有良好的时效性和较强的鲁棒性.
The problem of underwater tracking with multiple constraints in the complex ocean environment is formulated as a nonlinear differential games based on receding horizon control. The tracking relative motion model of underwater tracking is established using the agent homing detection information, on which the process constraints are developed. Using the relative motion information as state variable, the differential games model is obtained by analyzing the tracking characteristics. The nonlinear differential games tracking guidance law based impact angle constrain is derived from the underwater multiple constraints tracking systems with additive disturbance by the implementation of zero efficiency control and rolling prediction algorithm. The simulation results show that the guidance law has high time efficiency and strong robustness, which can resist the interference and adjust the constraints in real time.
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