具有参数不确定性的飞行器的变结构姿态控制

研究一类具有惯性参数不确定性和气动力矩参数不确定性的飞行器的姿态控制。设计了基于时间尺度分离的两环变结构姿态控制系统，选取含有跟踪误差及其积分函数的滑动超平面，先对能达阶段的收敛性进行了基于李雅普洛夫函数的证明，再对闭环系统的稳定性进行了证明，最后对该控制系统进行了基于Simulink的仿真，仿真结果证实了该控制策略的鲁棒性和可行性。

Variable Structure Control for the Attitude of Flying Vehicle with Parameter Uncertainties

In this paper,a variable structure attitude controller is proposed.it's based on the timescale separation and with two loops,faster loop and slower loop respectively.Inertia uncertainties and aerodynamic moment uncertainties are taken into consideration simultaneously,In order to track the command signals perfectly,the sliding surface is of integral form,Overall stability of two loops in the reaching phase is analyzed based on the Lyapunov function theoretically,and simulation results demonstrate the validity of the proposed attitude control system.