考虑末制导中的落角约束和过载约束，提出一种自适应模糊滑模导引律，并采用李雅普诺夫稳定性判据对其稳定性进行了证明。通过将落角与视线角联系起来，从而设计滑模面实现落角约束。通过引入自适应模糊推理系统消除滑模控制中的抖振，提高了导引律的实用性。由于模糊推理具有强大的自学习能力，可在线修正加速度指令，故而对于未知干扰和模型不确定性具有良好的鲁棒性，提高了导引精度。仿真验证了该导引律在不同条件下均能满足过载约束和落角约束。

Considering the terminal guidance problem with impact angle constraint and overload constraint,an Adaptive Fuzzy-Sliding Mode Control (AFSMC) guidance law is presented.Its stability is proved by Layapunov stability criterion.The desired impact angle is defined by a desired Line of Sight (LOS) angle,and achieved by design of sliding mode surface.The Adaptive Neuro Fuzzy Inference System (ANFIS) is introduced to reduce the high-frequency chattering of sliding mode control.Since the ANFIS has a powerful self-learning ability,it is applied to adaptive update the additional acceleration command.As a result,the guidance law has good robustness to uncertain chattering and model uncertainty,and the guidance accuracy is improved.Simulation results show that the AFSMC guidance law can meet the requirements of impact angle constraint,overload constraint and miss distance constraint in various scenarios.