This paper considers the integrated guidance and control (IGC) problem for impact angle constrained interception against manoeuvring targets with actuator saturation constraint. Based on the backstepping technique, an adaptive IGC law is presented to address this problem, where a fixed-time differentiator is proposed to estimate the derivatives of virtual control inputs to avoid the inherent problem of “explosion of complexity” suffered by the typical backstepping. Furthermore, an auxiliary first-order filter is introduced into the IGC law to cope with the actuator saturation constraint. The stability of the closed-loop system is strictly proved. Finally, the superiority of the proposed IGC law is verified by comparison simulations.

This paper presents an integrated guidance and control (IGC) design method for an unmanned aerial vehicle with static stability which is described by a nonlinear six-degree-of-freedom (6-DOF) model. The model is linearized by using small disturbance linearization. The dynamic characteristics of pitching mode, rolling mode and Dutch rolling mode are obtained by analysing the linearized model. Furthermore, an IGC design procedure is also proposed in conjunction with a proportional–integral–derivative (PID) control method and fuzzy control method. A PID controller is applied in the control loop of the elevator and aileron, and the attitude angle and attitude angular velocity are used as compensation feedback, giving a simple and low-order control law. A fuzzy control method is applied to perform the cross-coupling control of rolling and yawing. Finally, the 6-DOF simulation shows the effectiveness of the developed method.