火星大气进入滑模自抗扰制导方法

针对火星探测器大气进入制导阶段存在着模型参数误差等不确定性，基于直接反馈线性化理论设计了一种滑模自抗扰进入制导方法。首先利用反馈线性化方法对跟踪系统模型进行线性化处理；在此基础上设计了滑模控制律，并利用线性扩张状态观测器估计系统的未知不确定量，在控制律中进行补偿；此外还给出了大气进入段的横向制导律。仿真结果表明，与反馈线性化方法相比，该方法设计的制导律有效地降低了模型参数误差对制导精度的影响，实现了对参考轨迹的良好跟踪，提高了探测器开伞点的精度。

Active Disturbance Rejection Sliding Mode control for Mars Atmospheric Entry Guidance

During the atmospheric entry phase of Mars probe, there exist uncertainties such as model parameters error. Based on direct feedback linearization theory, an active disturbance rejection sliding mode entry guidance method is proposed. Firstly, the tracking system model is linearized through the feedback linearization method. On this basis, the sliding mode control law is designed, and the linear extended state observer is used to estimate the unknown uncertain value of the system and compensate it in the control law. In addition, the lateral guidance law of the atmospheric entry phase is also given. The simulation results show that compared with the feedback linearization method, the guidance law designed by this method effectively reduces the influence of model parameters error on the guidance precision, and achieves good tracking effects of the reference trajectory and improves the accuracy of the probe''s parachute deployment point.