BTT导弹的自适应滑模反演控制设计

针对具有非匹配不确定性的BTT导弹非线性动力学模型,结合反演控制、自适应控制和滑模控制方法,设计了一种新颖的BTT导弹自适应反演滑模控制器。反演设计的每一步中均采用具有范数型切换函数的连续滑模控制律,并采用自适应算法对不确定性的上界进行估计。将虚拟控制量的导数作为不确定性处理,利用自适应滑模控制的鲁棒性对其进行补偿,解决了"计算膨胀"问题,简化了控制系统的设计,并且设计中无需事先已知气动参数摄动的上界。采用Lyapunov稳定性理论证明了跟踪误差最终有界。仿真结果显示了本文设计方法的有效性。

Adaptive Sliding Mode Controller Design for BTT Missile Based on Backstepping Control

Based on backstepping design, adaptive control and sliding mode control, a new adaptive backstepping sliding mode controller was designed for BTT missiles with unmatched uncertainties. Continuous sliding mode control with norm switching function was used in each step of backstepping design, and the adaptive gain parameter was tuned to deal with the uncertainties. "Computer explosion" was solved by adaptively estimating the upper bound of the derivative of the virtual control and compensating it by sliding mode control. In this way, the controller is simplified and the upper bound of aerodynamic parameters is not required. Using Lyapunov stability theorem, the tracking error is shown to be ultimately bounded. Simulation results show the effectiveness of the proposed method.