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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。
In order to solve the problem of robust control of bank-to-turn (BTT) missiles with unmatched uncertainties, an adaptive sliding mode inversion control method is proposed. In each step of the inversion design, an adaptive algorithm is used to estimate the upper bound of uncertainty, and a continuous adaptive sliding mode control law with norm type switching function is given. In the design of actual control volume, the saturated characteristic of control volume is explicitly considered, the stability of the system under saturation control is guaranteed, and the final tracking error is proved to be bounded by Lyapunov stability theory. The simulation results show that the control method of this paper can still track the command signal quickly and accurately with strong robustness under the condition that the aerodynamic parameter perturbation and the control amount are saturated.