具有强鲁棒性的导弹自适应滑模控制

Adaptive sliding mode control for missile with strong robustness

针对导弹飞行过程中存在的参数摄动、干扰和不确定性问题,建立了俯仰平面内的姿态控制系统的数学模型,并把推力视为扰动对模型进行简化,将模型参考滑模控制和自适应控制相结合,先对参考模型进行滑模控制器设计,在此基础上对系统模型设计滑模控制器,对趋近律参数进行调整,并设计自适应律估计系统中的干扰和不确定性部分.最后将设计的控制器应用于导弹姿态控制中,并用李雅普诺夫稳定性理论分析了闭环系统的稳定性.仿真结果表明：所设计的控制器对给定的信号具有较高的跟踪精度,对不确定性和未知干扰也有较强的鲁棒性,同时也说明了把推力视为扰动的合理性.

Due to the parameters perturbation,disturbances and uncertainty problems in the missile flight,the mathematical model of attitude control system in the pitch plane was established,and the thrust was regarded as part of disturbance to simplify the model.The model reference sliding mode control and adaptive control was combined and the sliding mode controller was designed for the reference model.Based on the reference model controller,a new sliding mode controller was designed with variable parameter of the reaching law,and the adaptive law was designed to estimate the disturbances and uncertainty part.Finally,the controller was applied to the missile attitude control,and the stability of the closed loop system was analyzed with Lyanopuv stability theory.The simulation results show that the controller has a good tracking effect for the given signal and has strong robustness against uncertainties and that it is reasonable to regarded the thrust as part of the disturbance.