Abstract: An adaptive multiple surface sliding mode control method is proposed for the control problem of hydraulic erecting system of large launcher, which is a typical high order irregular system. On the basis of hydraulic erecting system nonlinear model, the multiple surface sliding mode controller is proposed by using the recursive technique. According to Lyapunov stability theory, the adaptive laws are introduced for the controller to estimate the parametric uncertainties and external disturbances in real time , which improves the robustness of the erecting system. The experimental results demonstrate that the proposed method could effectively restrain the parametric uncertainties and external disturbances，the tracking accuracy in the erecting process is improved. In addition, the control performance of proposed control method is better than that of conventional sliding mode.

Key words: ordnance science and technology, adaptive control, multiple surface sliding mode control, large launcher, hydraulic erecting system, nonlinear system