全向发射状态下运载火箭变结构自适应滑模控制

针对运载火箭全向发射后，系统通道间存在交连耦合问题，提出了基于解耦的变结构自适应滑模控制方法。首先建立了运载火箭全向发射姿态动力学模型；其次推导了一种工程上实用的姿态角预补偿解耦控制方法，并重点分析了残余耦合对姿控系统的影响；最后针对解耦后系统的残余耦合和火箭结构干扰，提出了变结构自适应滑模控制方法。利用Lyapunov稳定性理论，证明了控制系统的全局渐近稳定性。仿真校验了本文提出的控制方法能够实现火箭在全向发射情况下的姿态稳定。

Variable Structure/Adaptive Sliding Mode Control of Launch Vehicle Based on the Omnidirectional Launch

Aiming at the cross-coupling among the channels of the launch vehicle because of omnidirectional launch, the method of variable structure/adaptive sliding mode control based on the decoupling control is proposed in the paper. Firstly, the model of attitude dynamics of omnidirectional launch vehicle is established in the paper. Secondly, attitude pre-compensation decoupling control method realized in the engineering is adopted, and the influence of residual coupling on the attitude control system is analyzed. Finally, aiming at both residual coupling and structure disturbance, the method of adaptive sliding mode variable structure control is proposed. The global asymptotic stability is proved by using Lyapunov stability theory. The numerical simulation results verify that the proposed control method can guarantee the attitude stability of the omnidirectional launch vehicle.