Aiming at precise ground-target attacking taken by UCAV, we proposed an optimal attack trajectory in the case with multiple constraints and a controller design method.A 3-DOF kinematics model was established for the missile, and transformation was made for the nonlinear equations thus no linearization is needed.An optimal attack trajectory with time and final angle constraints was designed by using the minimum principle of optimal control theory, which could satisfy the accurate real-time requirement.In order to track the optimal attack trajectory, a tracking controller was designed using sliding mode control based on the body mathematical model of a certain type of air-to-ground guided weapon.Numerical simulation results show that:1)The designed optimal attack trajectory can be achieved to implement accurate real-time attack under given constraints;and 2)The designed tracking controller has good robustness, high tracking precision, fine dynamic feature and stability.