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针对存在参数摄动的吸气式高超声速飞行器(AHV)弹性体模型,考虑执行机构幅值和速率受限问题,提出了一种基于辅助误差补偿策略的鲁棒反演控制方法.采用改进的辅助系统,保证了执行机构在幅值与速率同时达到饱和时闭环控制系统的稳定性和跟踪误差的有界性;采用有限时间收敛微分器(FD),实现了对虚拟指令及其一阶导数的有效估计,并在此基础上,设计非线性干扰观测器(NDO),对模型不确定项进行了平滑估计,进一步提高了控制精度.通过仿真,验证了所设计控制方法的有效性.“,”A robust backstepping control method based on auxiliary error compensation is proposed to solve the problem of amplitude and rate limitation of the actuator of the flexible Air-breathing Hypersonic Vehicle (AHV) model with parameter perturbation.The improved auxiliary system is used to ensure the stability of the closed-loop system and the boundedness of the tracking error when the amplitude and rate are constrained at the same time.The Finite-time-convergent Differentiator (FD) is used to realize effective estimation of the virtual instruction and its first derivative,and then a Nonlinear Disturbance Observer(NDO) is designed.The uncertainties of the model are estimated smoothly to further improve the control precision.The effectiveness of the proposed control method is verified by simulation.