This paper conducts the related researches about the guidance strategy of missile against maneuvering targets subject to impact angle constraints, input constraints and missile autopilot. Firstly, the three-dimensional guidance system model is established, which has the impact angle constraints, input constraints and missile autopilot. Secondly, an adaptive dynamic surface guidance (ADSG) strategy with impact angle constraints, autopilot lag and input constraints is designed based on the

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... surface method, sliding mode control, sliding mode filter and adaptive technology. In order to deal with the problem of input constraints, the auxiliary system is introduced. Meanwhile, a new adaptive algorithm is proposed to reduce the tracking error of the sliding mode filter which can further improve the guidance performance of the system. Finally, Lyapunov theory is adopted to prove that the states of the closed-loop system are uniformly ultimately bounds. By conducting the numerical simulations, the effectiveness of the proposed guidance law can be proved.