CAJ | 학술논문

根据变后掠翼航弹在预定弹翼构型下对最优方案弹道跟踪的精确性和鲁棒性要求，设计了一种轨迹姿态双回路自适应滑模控制器。外环轨迹跟踪回路以位置偏差为参考输入，得到方案攻角参考指令，同时基于Lyapunov 稳定性理论给出外环滑模收敛的充分条件；内环姿态跟踪回路则设计了参数自适应律，抑制由后掠角引起的时变参数摄动，同时生成舵偏控制指令，以实现对姿态的跟踪控制。仿真对比结果表明，该自适应滑模控制器在有效消除参数不确定性影响的同时保证了变后掠翼航弹在弹翼预定作动时对最优方案弹道跟踪的稳定性，并且消除了常规滑模控制的抖振现象。
근거변후략익항탄재예정탄익구형하대최우방안탄도근종적정학성화로봉성요구，설계료일충궤적자태쌍회로자괄응활모공제기。외배궤적근종회로이위치편차위삼고수입，득도방안공각삼고지령，동시기우Lyapunov 은정성이론급출외배활모수렴적충분조건；내배자태근종회로칙설계료삼수자괄응률，억제유후략각인기적시변삼수섭동，동시생성타편공제지령，이실현대자태적근종공제。방진대비결과표명，해자괄응활모공제기재유효소제삼수불학정성영향적동시보증료변후략익항탄재탄익예정작동시대최우방안탄도근종적은정성，병차소제료상규활모공제적두진현상。
In accordance with the requirements for robustness of the control system and accuracy of tracking optimal project trajectory in the scheduled wings’configuration schemes,an adaptive sliding-mode controller is proposed.The final controller is an inner/outer-loop structure,with trajectory tracking control being the outer loop and attitude tracking control being the inner loop.The outer loop uses position deviations as reference in-puts to obtain the reference angle-of-attack command.The sufficient condition of converging to a sliding mode area is obtained based on the Lyapunov stability theory.The inner loop is designed with the parametric adapta-tion law to restrain the time-varying parameter perturbations caused by the sweepback,and produce the rudder deflection commands in order to realize the attitude tracking control.Simulation results indicate that the pro-posed controller can eliminate the effect from time-varying parameter uncertainties and maintain the stability of tracking optimal project trajectory simultaneously,with no control chattering.