基于反演法的某制导迫弹鲁棒自适应控制器设计

设计了一种基于反演法的鲁棒自适应控制器，以解决制导迫弹在飞行中存在的气动参数不确定和未建模误差等问题，在设计过程中通过带有σ修正的参数自适应律对系统中的不确定参数进行在线估计，针对模型中的未建模误差，采用鲁棒函数抵消，在反演法的推导过程中，加入了一阶低通滤波器，得到虚拟控制量的微分，消除了传统反演法中的“项数膨胀”难题，并利用李雅普诺夫函数证明了该闭环系统为半全局稳定的。该设计方法放宽了对不确定项的限制，仿真结果证明了该方法的有效性。

Guided Mortar Projectile Robust Adaptive Controller Design Based on Backstepping

A controller using robust adaptive based on backstepping was designed for guided mortar projectile with uncertain aerodynamic parameters and unmodeled dynamics.The problem of uncertain aerodynamic parameters was solved by the parameter estimator through parameter self-adaptive with σamendatory,and the robust term was designed to solve the problem about approach error.“Explosion of complexity”which existing in traditional backstepping approach was solved by introduction of low pass filters.Finally,the closed-loop system was proved by Lyapunov function for semi-global stability and the research object was expanded to a nonlinear dynamics system.The numerical simulation shows that the proposed control system illustrates good tracking performance and robustness.