Abstract: In terms of the state constraint and nonlinear optimality problem in the integrated guidance and control(IGC)design, a novel IGC design that considers full-state constraints is proposed by combining backstepping and adaptive dynamic programming(ADP). In the first step, a strict feedback system with state constraints is converted into one with no state constraints through coordinate conversion. Then the feed-forward controller design and feedback controller design are combined. The ADP technology is used to solve the nonlinear HJB equation online. Lastly, Lyapunov theory is employed to demonstrate that the closed-loop system is stable and all the signals are bounded. The contrastive simulation results demonstrate the effectiveness and the superiority of the proposed algorithm.