In this paper, we present a novel guidance scheme based on model-based deep reinforcement learning (RL) technique. With model-based deep RL method, a deep neural network is trained as a predictive model of guidance dynamics which is incorporated into a model predictive path integral (MPPI) control framework. However, the traditional MPPI framework assumes the actual environment similar to the training dataset for the deep neural network which is impractical in practice with different maneuvering of the target, other perturbations, and actuator failures. To address this problem, our method utilizes meta-learning technique to make the deep neural dynamics model adapt to such changes online. With this approach, we can alleviate the performance deterioration of standard MPPI control caused by the difference between the actual environment and training data. Then, a novel guidance law for a varying velocity interceptor intercepting maneuvering target with desired terminal impact angle under actuator failure is constructed based on the aforementioned techniques. The simulation and experiment results under different cases show the effectiveness and robustness of the proposed guidance law in achieving successful interceptions of maneuvering target. INDEX TERMS Missile guidance, model predictive control, meta-learning, deep reinforcement learning, impact angle constraint.

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Recently, the CMS and ATLAS collaborations have reported a diphoton peak at 750 GeV in the RunII of LHC at 13 TeV. We assume that the heavy fourth generation quark doublet z, y with 380 GeV mass, and the width of z, t is much less b quark. Then we show that the contributions of the (z z + y ȳ)/ 2 bound state η z y (1S) to the diphoton measurements through σ(pp → η z y (1s) → γγ) are 5.6 +5.6 −2.8 fb at S = 13 TeV. They are constant with the 750 GeV diphoton excess measured by the CMS ant ATLAS collaborations.