BTT导弹块模型的鲁棒自适应设计

针对BTT导弹的非线性模型,给出了其适合用backstepping设计方法的块控模型。充分利用系统的结构特点,结合块控原理、backstepping设计方法、鲁棒控制和自适应控制方法,提出了一种鲁棒自适应控制器的设计方法。允许系统中的每一个子块都存在不确定性,采用非线性跟踪微分器减小了backstepping设计中的“计算膨胀”问题,并且避免了系统控制矩阵未知时控制器可能的奇异问题,证明了系统的状态跟踪误差和参数误差指数收敛于原点的一个邻域。最后给出的仿真结果显示了本文方法的有效性。

Robust adaptive controller design for block BTT missile model

Firstly,BTT block control model,which was suitable for backstepping design,was given for nonlinear model of BTT missile.Making full use of the characteristic of the system and combining block control principle,backstepping technique,robust control and adaptive control method,a robust adaptive controller design method was proposed.Uncertainties in every sub-block were allowed."Computer explosion" is reduced by introducing nonlinear tracking differentiator and the possible singularity of controller is avoided when the control matrix is unknown.It is proved that the state tracking errors and parameter errors converge to the neighborhoods of the origin exponentially.Finally,the given simulation results show the effectiveness of the proposed method.