质量矩导弹构型及自适应控制律设计

 质量矩导弹姿态运动模型含有活动质量块的位置、速度和加速度项，是典型的带有输入非线性的快时变多体系统。从构型和控制律设计两方面入手研究该类导弹跟踪控制问题。通过对姿态动力学模型的深入分析，获得了一种使系统具备良好动态品质的构型。以此为基础，建立了仿射型姿态运动模型，利用退步方法设计了控制律；考虑到系统中存在气动参数、外界扰动和执行机构动态特性等不确定因素，设计了鲁棒自适应补偿项；最后进行数学仿真，通过与标准退步控制律进行比较，验证了该控制律的有效性。

Configuration and Adaptive Control Law Design for a Mass Moment Missile

The mass moment missile is a typical kind of fast and time-varying multi-body system with nonlinear input, whose attitude dynamics equations are functions of moving-mass position, velocity and acceleration. The attitude control problem of mass moment missile is analyzed from perspectives of both configuration and control law. A new configuration of mass moment missile is presented with the in-depth analysis of attitude dynamics model, which can ensure that the system has better dynamic quality. On the basis of this, an affine attitude dynamics model is established and the attitude control law is designed by using backstepping control method. Taking into account the existing uncertainties of pneumatic parameters, external disturbances and dynamic characteristics of actuator, the robust adaptive compensation is designed. Finally, numerical simulation is conducted and a comparison with the normal backstepping control method is made, which demonstrates the validity of the proposed method.