Three-Dimensional Integrated Guidance and Control Design with Terminal Angle and Attitude Angle Constraints

To address the limitations of existing sliding mode-based integrated guidance and control (IGC) schemes, such as chattering, input saturation, and insufficient robustness, this paper proposes a three-dimensional IGC design method incorporating both terminal angle and attitude angle constraints. First, a control-oriented six-degrees-of-freedom model is established based on three-dimensional relative motion and vehicle dynamics, and the control objectives for maneuvering target interception under multiple constraints are clarified. Subsequently, a finite-time terminal sliding mode guidance law based on time-to-go (TGO) is integrated with dynamic surface control to construct the IGC framework. In this design, command filters are introduced to overcome the “explosion of complexity”, while amplitude saturation functions are employed to constrain system states and control inputs. Meanwhile, a generalized super-twisting extended state observer (GSTESO) is incorporated to estimate and compensate for lumped uncertainties in the system. Finally, by combining Lyapunov stability theory with an integral barrier Lyapunov (IBL) function, it is proven that the closed-loop system is uniformly ultimately bounded and satisfies the terminal angle constraints. Comparative simulations under multiple disturbance scenarios demonstrate that the proposed method meets the accuracy requirements in terms of miss distance and LOS angle error. Moreover, it alleviates high-frequency chattering and prevents control-input saturation, showing improved robustness and disturbance rejection capability compared with the baseline methods. Therefore, the proposed approach provides a valuable reference for engineering applications of three-dimensional IGC in maneuvering target interception.