Abstract: In order to intercept incoming homing missile accurately, a robust optimal predictive guidance law (ROPGL) and a robust cooperative optimal predictive guidance law (RCOPGL) were proposed in this paper, considering some uncertain factors caused by internal disturbances and inaccurate modeling for dynamic characteristics of defender and target control system. Firstly, a simplified state equation of the nominal system was established based on linearization and order-reduction of the nonlinear kinematic equation. And considering the uncertainties of the actual control system, an expression model was established for the robust guidance problem. Accordingly, an expression of the guidance command was obtained based on the dynamic programming method for the optimal guidance, and the guidance command was proved with Lyapunov stability theory to be capable of make the robust guidance problem stabilize. And then, introducing a boundary value function to handle the linear quadratic optimal guidance problem, the guidance command was obtained by solving the Riccati matrix differential equation. Finally, a simulation was carried out to verify the performance of the designed guidance law. The results show that compared with other guidance laws, the designed guidance law can suppress the influence of uncertainties and complete the accurate interception.