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A novel nonlinear impact angle guidance law for stationary targets, based on Lyapunov stability theory, is proposed in this work. Unlike the previous works, proposed guidance law generates necessary acceleration commands perpendicular to the velocity vector based on controlling nonlinear line-of-sight dynamics between target and pursuer. The nonlinear dynamics of the line-of-sight angle and its rate are derived in the planar engagement geometry. The line-of-sight angle is aimed to be controlled to satisfy impact angle constraints. Qualitative studies show that pursuer follows a straight line trajectory at the end of the flight for stationary targets. Thus, the impact angle constraints can be satisfied via controlling line-of-sight angle. A sliding manifold which reduces the order of the system and controls both line-of-sight angle and rate with exponential stability is introduced. Then, the system is forced to slide on defined manifold based on Lyapunov stability theory. The necessary commands are analytically calculated. Finally the comparison with different impact angle control guidance laws are performed to summarize the proposed guidance law performance.

A novel nonlinear impact angle guidance law for stationary targets, based on Lyapunov stability theory, is proposed in this work. In the proposed guidance law, nonlinear line-ofsight dynamics of the engagement geometry between the pursuer and stationary target is studied and the state equations for the line-of-sight angle and its rate are derived. The lineof-sight angle is aimed to be controlled to satisfy impact angle constraints. Then a sliding manifold which drives the line-of-sight angle and its rate to exponential stability is constituted. Robust Control Lyapunov Function is introduced to the system to control the line-of-sight dynamics to head it towards defined sliding manifold. The necessary commands are analytically calculated. Finally the comparison with a different impact angle control guidance law is performed to summarize the proposed guidance law performance.