WOND Y , TAHK M J , KIM Y H , et al . Multi-model approaches to three-axis missile autopilot design under aerodynamic roll angle uncertainty [J ] . Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering , 2012 , 226 ( G9 ): 1061 - 1077 . DOI: 10.1177/0954410011418751 http://doi.org/10.1177/0954410011418751 http://journals.sagepub.com/doi/10.1177/0954410011418751 http://journals.sagepub.com/doi/10.1177/0954410011418751 The problem of designing a robust three-axis missile autopilot that operates under aerodynamic roll angle uncertainty is addressed in this article. A finite number of local state-space models over an aerodynamic roll angle envelope are developed as a multi-model to represent uncertainty bounds. Two design methods with multi-objective output-feedback control are proposed. In the first approach, a classical three-loop autopilot structure is slightly modified for the multivariable autopilot design. The optimal gains in the autopilot structure are automatically obtained by using a co-evolutionary optimization method that addresses competing specifications and constraints. In the second approach, the mixed H2/ H∞ performance criteria are guaranteed by multi-objective control synthesis via optimization techniques. Both design approaches are used in non-linear simulations with variations in the aerodynamic roll angle to provide satisfactory performance as a three-axis missile autopilot.

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XIA Y Q , LU K F , ZHU Z , et al . Adaptive back-stepping sliding mode attitude control of missile systems [J ] . International Journal of Robust and Nonlinear Control , 2013 , 23 ( 15 ): 1699 - 1717 . DOI: 10.1002/rnc.v23.15 http://doi.org/10.1002/rnc.v23.15 https://onlinelibrary.wiley.com/toc/10991239/23/15 https://onlinelibrary.wiley.com/toc/10991239/23/15

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HUA S Y , WANG X G , ZHU Y . Sliding-mode control for a rolling-missile with input constraints [J ] . Journal of Systems Engineering and Electronics , 2020 , 31 ( 5 ): 1041 - 1050 . DOI: 10.23919/JSEE.2020.000078 http://doi.org/10.23919/JSEE.2020.000078 This paper investigates the overload stabilization problem of the rolling-missile subject to parameters uncertainty and actuator saturation. In order to solve this problem, a sliding-mode control (SMC) scheme is technically employed by using the backstepping approach to make the dynamic system stable. In addition, SMC with the tanh-type switching function plays an important role in reducing intrinsic vibration. Furthermore, an auxiliary system (AS) is developed to compensate for nonlinear terms arising from input saturation. Finally, the simulation results provide a solution to demonstrate that the suggested SMC and the AS methodology have advantages of strong tracking capability, anti-interference ability and anti-saturation performance.

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聂守成 , 钱林方 , 陈志群 , 等 . 基于干扰观测器的弹丸协调器电液伺服系统自适应滑模控制 [J ] . 兵工学报 , 2020 , 41 ( 9 ): 1745 - 1751 . DOI: 10.3969/j.issn.1000-1093.2020.09.006 http://doi.org/10.3969/j.issn.1000-1093.2020.09.006 针对弹丸协调器电液伺服系统中存在非匹配不确定性和参数不确定性问题，提出一种基于干扰观测器的自适应滑模控制策略。采用干扰观测器估计系统中的非匹配不确定性，通过Lyapunov稳定性理论证明干扰观测器的稳定性，并将其引入新型积分滑模切换函数的设计中，使控制器能够对非匹配不确定性提供有效补偿，提高控制精度。为了降低系统参数不确定性的影响，在滑模控制器设计中引入自适应律以保证控制器的动态性能，并对控制器的全局稳定性进行了证明。实验结果表明：采用的干扰观测器和自适应律能够准确描述系统特性；基于干扰观测器的自适应滑模控制器能够满足期望轨迹的跟踪要求，使设计的控制器在不同工况下均具有较好的动态跟踪特性和稳态精度，并具有较强的鲁棒性。

NIE S C , QIAN L F , CHEN Z Q , et al . Adaptive sliding mode control for electro-hydraulic servo system of ammunition manipulator based on disturbance observer [J ] . Acta Armamentarii , 2020 , 41 ( 9 ): 1745 - 1751 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.09.006 http://doi.org/10.3969/j.issn.1000-1093.2020.09.006 A disturbance observer-based adaptive sliding mode control strategy is proposed for ammunition manipulator electro-hydraulic servo system with unmatched and parameter uncertainties. A disturbance observer is adopted to estimate the unmatched uncertainties in the system, and the stability of disturbance observer is proved by Lyapunov stability theory. In order to effectively compensate the unmatched uncertainties and improve the control accuracy, the disturbance observer is introduced into the design of integral sliding mode switching function. An adaptive law is introduced into the design of sliding mode controller to improve the dynamic performance, which reduces the influence of system parameter uncertainties. Besides, the global stability of the controller is proved. Experimental results show that the disturbance observer and the adaptive law can accurately describe the system characteristics, the disturbance observer-based adaptive sliding mode controller proposed in this research tracks the desired tracking trajectory well. The designed controller has strong robustness and guarantees prescribed dynamic tracking characteristics and final steady-state accuracy under different operating conditions.

CHEN W H . Disturbance observer based control for nonlinear systems [J ] . IEEE/ASME Transactions on Mechatronics , 2004 , 9 ( 4 ): 706 - 710 . DOI: 10.1109/TMECH.2004.839034 http://doi.org/10.1109/TMECH.2004.839034 http://ieeexplore.ieee.org/document/1372532/ http://ieeexplore.ieee.org/document/1372532/

HAN J Q . From PID to active disturbance rejection control [J ] . IEEE Transaction on Industrial Electronics , 2009 , 56 ( 3 ): 900 - 906 . DOI: 10.1109/TIE.2008.2011621 http://doi.org/10.1109/TIE.2008.2011621 http://ieeexplore.ieee.org/document/4796887/ http://ieeexplore.ieee.org/document/4796887/

SHEN S Y , XU J F . Adaptive neural network-based active disturbance rejection flight control of an unmanned helicopter [J ] . Aerospace Science and Technology , 2021 , 119 : 107062 . DOI: 10.1016/j.ast.2021.107062 http://doi.org/10.1016/j.ast.2021.107062 https://linkinghub.elsevier.com/retrieve/pii/S1270963821005721 https://linkinghub.elsevier.com/retrieve/pii/S1270963821005721

LUAN T , SUN M X , HU Z Y , et al . A novel TS fuzzy robust control for part transportation of aircraft carrier considering transportation time and stochastic demand [J ] . Aerospace Science and Technology , 2021 , 119 : 107096 . DOI: 10.1016/j.ast.2021.107096 http://doi.org/10.1016/j.ast.2021.107096 https://linkinghub.elsevier.com/retrieve/pii/S1270963821006064 https://linkinghub.elsevier.com/retrieve/pii/S1270963821006064

TALOLE S E , GODBOLE A A , KOLHE J P , et al . Robust roll autopilot design for tactical missiles [J ] . Journal of Guidance Control and Dynamics , 2011 , 34 ( 1 ): 107 - 117 . DOI: 10.2514/1.50555 http://doi.org/10.2514/1.50555 https://arc.aiaa.org/doi/10.2514/1.50555 https://arc.aiaa.org/doi/10.2514/1.50555

TRIVEDI P K , BANDYOPADHYAY B , MAHATA S , et al . Roll stabilization: a higher-order sliding-mode approach [J ] . IEEE Transactions on Aerospace and Electronic Systems , 2015 , 51 ( 3 ): 2489 - 2496 . DOI: 10.1109/TAES.2015.140057 http://doi.org/10.1109/TAES.2015.140057 The robust stabilization of roll angle for PGM-class missiles (precision guided missiles) is considered in this paper. The roll dynamics in these missiles are stable but have large parametric variations and slow response behavior. A novel method for roll-angle stabilization using higher-order sliding-mode control with actuator saturation is proposed in this paper. The actuator and sensor dynamics are considered, and the controllers are designed to meet specifications in the presence of these dynamics.

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