中文摘要：

在综合考虑脱靶量、落角、入射角等末端约束条件的基础上，利用模型参考控制和变结构控制理论设计制导律．在双平面解耦的基础上，将弹目相对运动的线性模型作为参考模型，依据模型匹配条件，得到基于积分型滑模超平面的等效控制，以线性最优制导律作为参考控制，设计带角度约束的变结构模型参考自适应制导律．典型弹道仿真结果分析显示：该制导律能够满足多约束条件下高精度制导的需要，具有良好的弹道性能．

英文摘要：

The model-reference adaptive control and variable-structure control were used to design a new guidance law considering various terminal constraints such as guidance precision, inclination angle and rotation angle. After the division of the weapon three-dimensional terminal motion, the linear optimal model was taken as the nominal system. Based on the matching conditions of model ,the equivalent control was obtained. Taking the linear optimal input as the refer- enced input, the model-reference adaptive variable structure guidance laws with impact angular constraints were designed. The simulation results show that the new guidance law can satisfy with the need of guidance precision and impact angular constraints, and it has excellent trajectory in terminal guidance.