远程导弹的自适应反步姿态控制系统设计

Adaptive Backstepping Attitude Control System Design of Long-range Missile

针对存在有界外部干扰的远程导弹,研究自适应反步姿态控制系统设计问题。首先,建立了导弹的姿控系统状态空间模型,考虑姿态奇异问题,将基于欧拉角的模型转化为基于四元数的刚体运动学模型,并构建了姿态误差动态方程。然后,为提高姿态控制系统的可靠性,针对存在的外部干扰,设计了自适应反步姿态控制律,通过对不确定项进行自适应估计和补偿来处理可能发生的干扰,并基于Lyapunov函数方法分析了算法的稳定性。最后,进行了数字仿真,结果表明,本文所提控制方法具有较好的鲁棒性和控制精度。

This paper mainly aims at the design of an adaptive backstepping attitude control system for long-range missile with bounded external interference.Firstly,the state space model of attitude control system of missile is established.Considering the problem of attitude singularity,the model based on Euler Angle is transformed into the missile rigid body kinematic model based on quaternion,and then the attitude error dynamic equation is established.In order to improve the reliability of attitude control system,an adaptive backstepping attitude control law is designed against the external interference.The likely interference is handled through adaptive estimation and compensation for the uncertainties.The stability of the algorithm is analyzed based on Lyapunov function method.Finally,the method is verified by simulation and the results show that this control method has good robustness and control accuracy.