In order to implement effective intercept of the near space hypersonic vehicle such as X -51A, a new continuous nonlinear H∞ guidance law with robustness is proposed .First, the mathematic mode is built according to the relationship between the missile and the target whose acceleration is intro -duced as disturbance .The root mean square of the centrifugal acceleration as the disturbance output is proposed based on the intercept strategic analysis by the geometric relationship .The nonlinear H∞ guid-ance law are obtained by Hamilton function and the optimal control theory .The asymptotic stability of the guidance system is strictly proved by Lyapunov stability theory , and applying this method , it is unnecessa-ry to solve the Hamilton-Jacobi-Iasscs( HJI) partial differential equation .The simulation results show that the guidance law not only has strong robustness but also get good guidance accuracy .%为了对以X-51 A为代表的临近空间高超声速飞行器实施有效拦截，提出一种新的具有强鲁棒性的非线性H∞制导律。首先，将目标机动作为系统扰动，建立拦截弹-目标相对运动学数学模型；根据几何方法拦截策略分析，提出以离心加速度的均方根为扰动输出；引入Hamil-ton函数并基于最优控制理论，得到非线性H∞制导律。该方法利用Lyapunov稳定性理论严格证明了制导系统的全局渐近稳定性，且无需求解Hamilton-Jacobi-Issacs（HJI）偏微分方程。仿真结果表明，该制导律不仅具有很强的鲁棒性也能获得良好的制导精度。
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