A group of ellipsoidal invariant sets is designed off-line, and then constitutes a terminal constraint convex set whose coefficients are taken as on-line optimization variables.

The guidance method satisfies terminal angular constraint as reentry vehicle hitting target, but also ensures minimum loss of maneuvering velocity for reentry vehicle.

In this paper, the missile guidance with terminal impact Angle constraint and integrated guidance and control design for missile with terminal impact constraint were researched.