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A nonlinear H∞ guidance law based on a fuzzy model is proposed for tactical missiles pursuing maneuvering targets in three-dimensional (3-D) space. In the proposed guidance scheme, the relative motion equations between the missile and target are first interpolated piecewise by Takagi-Sugeno linear fuzzy models. Then, a nonlinear fuzzy H∞ guidance law is designed to eliminate the effects of approximation error and external disturbances to achieve the desired goal. The linear matrix inequality (LMI) technique is then employed to treat this H∞ optimal guidance design in consideration of control constraints. Finally, the problem is further transformed into a standard eigenvalue problem so that it can be efficiently solved via a convex optimization algorithm, which is available from a numerical computation software.