Sliding mode guidance law with autopilot lag for terminal angle constrained trajectories

A terminal guidance law with angle of attack constraint is designed to intercept maneuvering targets in this paper. Firstly, the sliding mode guidance law is derived from the premise of autopilot with ideal dynamic delay. The convergence property within finite time is demonstrated. Furthermore, the guidance law is extended to the case of dynamic delay of autopilot by using the nonlinear backstepping method. The simulation results demonstrate that the proposed guidance law provides better performance when the autopilot has actual delay and target makes escape maneuver.