A sliding-mode guidance (SMG) law is designed to intercept maneuvering targets with impact angle constrained flight trajectories under the assumption of ideal missile autopilot. Furthermore, accounting for the autopilot as second-order dynamics, a new guidance law with terminal impact angle constraint is designed using the dynamic surface control method. Some first-order low-pass filters are introduced into the designing process to avoid the occurrence of high-order derivatives of the line of sight (LOS) angle in the expression of the guidance law such that the guidance law can be implemented in practical applications. The proposed guidance law is effective in compensating for the second-order autopilot lag. Simulation results show that it is able to guide a missile to impact a maneuvering target with a desired angle and a small miss distance.

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