{"ID":3006082,"CreatedAt":"2026-06-03T03:09:48.883664427Z","UpdatedAt":"2026-06-04T19:14:31.964469513Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2606.02872","arxiv_id":"2606.02872","title":"Terminal Time and Angle-Constrained Nonlinear Intercept Guidance","abstract":"This paper considers the problem of simultaneously controlling an interceptor's impact time and impact angle using its lateral acceleration as the sole control input. With a single control input, the nonlinear engagement kinematics is inherently underactuated, which complicates guidance law synthesis. To overcome this challenge, a hierarchical sliding mode-based guidance law is developed to concurrently regulate the two terminal constraints. The proposed architecture consists of a two-layer sliding manifold. The first layer comprises two sub-sliding surfaces corresponding to the impact time and impact angle error dynamics, respectively, while the second layer introduces a composite sliding manifold that combines the two individual sub-surfaces. Then, a variable-gain adaptive guidance law is designed to ensure time and angle-constrained interception against a stationary target, which is further extended to intercept a constant velocity target. Simulations are conducted for various engagement scenarios to attest to the efficacy of the proposed approach.","short_abstract":"This paper considers the problem of simultaneously controlling an interceptor's impact time and impact angle using its lateral acceleration as the sole control input. With a single control input, the nonlinear engagement kinematics is inherently underactuated, which complicates guidance law synthesis. To overcome this...","url_abs":"https://arxiv.org/abs/2606.02872","url_pdf":"https://arxiv.org/pdf/2606.02872v1","authors":"[\"Shivam Bajpai\",\"Abhinav Sinha\"]","published":"2026-06-01T20:37:08Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.MA\",\"cs.RO\"]","methods":"[]","has_code":false}