考虑通道耦合因素的制导控制一体化设计方法

针对倾斜转弯（Bank-to-turn, BTT）飞行器俯冲段制导与控制系统设计中存在的强耦合、强非线性问题，研究考虑通道耦合因素的制导与控制一体化设计方法。首先建立了考虑控制通道间耦合因素的三维制导与控制一体化设计模型，在模型中引入不确定性因素，采用连续非光滑控制理论对三维块系统设计非光滑扩张状态观测器（Non-smooth extended state observer, NESO）进行观测补偿，然后结合反步法与块动态逆方法设计可以保证有限时间收敛的制导与控制一体化算法，并严格证明了带有扩张状态观测器的级联系统是全局有限时间稳定的。提出的方法适应强耦合BTT飞行器存在扰动情况下的快时变控制需求，通过仿真校验该方法可行、有效。

Integrated Guidance and Control Design Method Considering Channel Coupling

A novel integrated guidance and control design method in dive phase is proposed for bank-to-turn (BTT) vehicle considering its control channel coupling and nonlinearity. Firstly, three-dimensional coupled design model for designing integrated guidance and control law is built; then the uncertainty factors are taken into account and a new continuous non-smooth extended state observer (NESO) is proposed to compensate it. Furthermore, a robust integrated guidance and control law based on backstepping method and block dynamic inverse method is developed. The law adequately considers the influence from strong coupling between different channels and solves the difficult problems of designing guidance and control law for BTT vehicle. The simulation results show that the proposed approach is effective and feasible.