基于扰动观测器的巡航飞行器指数时变滑模控制

针对巡航飞行器非线性模型具有快时变、强耦合和高度非线性的特点，在考虑飞行过程中可能存在的气动参数以及大气密度不确定性情况下，提出了一种高精确、强鲁棒控制方法。通过将扰动观测器与指数时变滑模控制方法结合，构造了一种基于扰动观测器的巡航飞行器指数时变滑模控制设计方法，并利用Lyapunov理论分析了采用该控制律后整个闭环系统的稳定性。该方法能够有效地减小采用边界层方法来处理滑模抖振问题时所引入跟踪稳态误差，提高系统控制精度。最后，通过仿真验证了所提出方法的有效性。

Disturbance Observer Based Exponential Time Varying Sliding ModeFlight Control Design for Cruise Vehicle

As a cruise vehicle is characterized by quickly time varying, strongly coupled and highly nonlinear, a accurate and robust control strategy is proposed for the cruise vehicle flight control in the presence of aerodynamic parameter and inertial parameter uncertainties. A disturbance observer based exponential time varying sliding mode control (DOETVSMC) strategy is developed the for cruise vehicle by combining the disturbance observer method and exponential time varying sliding mode control (ETVSMC) approach, and the related stability of the overall controller is further analyzed by using Lyapunov stability principle. As a result, the proposed approach can be used to effectively reduce the steady state error caused by the boundary layer approach used to process the chattering problem in the sliding mode control (SMC). Finally, simulations are employed to illustrate the effectiveness of the proposed method.