控制受限的BTT导弹反演自适应滑模控制研究

针对具有非匹配不确定性的倾斜转弯 (bank to turn， BTT)导弹在控制受限情况下的鲁棒控制问题，提出了一种自适应滑模反演控制方法。反演设计的每一步中，采用自适应算法对不确定性的上界进行估计，给出了具有范数型切换函数的连续的自适应滑模控制律。在实际控制量的设计中显式地考虑了控制量的饱和特性，保证了系统在控制饱和时的稳定性，并采用Lyapunov稳定性理论证明了跟踪误差最终有界。仿真结果表明，在气动参数摄动和控制量存在饱和的情况下，本文的控制方法仍能快速、准确地跟踪指令信号，具有较强的鲁棒性。

Adaptive backstepping sliding mode control for BTT missiles with control input constraints

Concerning with robust control of a bank to turn (BTT) missile in the presence of unmatched uncertainties and control input saturation, an adaptive backstepping sliding mode controller is designed. The upper bound of uncertainties is adaptively estimated at each step of the backstepping design, and continuous sliding mode control with norm switching function is used. To ensure the stability under control input saturation, control saturation is explicitly accounted in the design of real control. Using the Lyapunov stability theorem, the tracking error is shown to be ultimately bounded. Simulation results show the good dynamic characteristics and robustness of the proposed method in the presence of aerodynamic dispersion and control input saturation.