针对近空间飞行器大包络飞行时产生系统状态偏离问题,通过多控制律切换策略实现了大范围的指令跟踪。针对不同飞行模态间存在的切换控制问题,提出基于时间以及基于速度和高度的两种切换方法。首先研究了近空间飞行器纵向动力学模型,然后针对近空间飞行器的速度和高度误差跟踪系统进行了反步控制器设计。最后,通过仿真验证了切换控制方法的有效性。 Aiming at the problem of system state deviation in near-space vehicle large envelop flight, a wide range of command tracking is realized by multi-control switching strategy. Aiming at the problem of switching control between different flight modes, two switching methods based on time and speed and altitude are proposed. Firstly, the longitudinal dynamics model of near-space vehicle was studied, and then the backstepping controller design was carried out for the velocity and altitude error tracking system of near-space vehicle. Finally, the effectiveness of the handover control method is verified through simulation.