Impact angle controlled integrated guidance and control with input and state constraints

A novel integrated guidance and control scheme is derived for STT missile with strict constraints as desired impact angle, input saturation and partial system state in three-dimensional space. The backstepping technique and command filter are adopted for achieving input constraints, and the improved compensation signals are constructed to correct tracking errors. The integral barrier Lyapunov function is introduced to prevent the partial system states from exceeding a predefined interval. A modified extended state observer is employed to strengthen the robustness of the system further. Theoretically, the required properties of a closed-form system are proved by Lyapunov theory in detail. Numerical simulations are conducted to exhibit the performance and robustness of the IGC scheme fully.