可重复使用运载器递归积分滑模姿态控制方法

针对存在模型不确定和外部干扰的可重复使用运载器再入段姿态控制问题，提出了一种基于自适应滑模干扰观测器的递归积分滑模控制方法。首先，基于可重复使用运载器再入段姿态运动模型，建立了面向控制的模型；其次，设计了自适应滑模干扰观测器，以精准估计和补偿由模型不确定和外部干扰构成的复合干扰；然后，基于递归思想设计了一种新型递归积分滑模控制器，利用Lyapunov稳定性理论证明了闭环系统的有限时间稳定性；最后，数值仿真结果验证了该方法具有较强的鲁棒性和较快的收敛速度。

Recursive Integral Sliding Mode Attitude Control Method for Reusable Launch Vehicle

A recursive integral sliding mode control method based on the adaptive sliding mode disturbance observer is proposed for the reentry attitude control of reusable launch vehicles with model uncertainties and external disturbances. Firstly, based on the attitude motion model of reusable launch vehicles in re-entry phase, a control oriented model is established. Secondly, an adaptive sliding mode disturbance observer is designed to accurately estimate and compensate the compound disturbances composed of model uncertainties and external disturbances. Then, a new recursive integral sliding mode controller is designed based on the recursive idea, and the finite time stability of the closed-loop system is proved by using the Lyapunov stability theory. Finally, the numerical simulation results show that the proposed method has strong robustness and fast convergence speed.