Robust Adaptive Controller Design for Missile with Three-tunnel Input Unmodeled Dynamics and Uncertainties

摘要

For a missile system with both input unmodeled dynamics and uncertainties, a robust adaptive controller based on RBF neural networks and back-stepping technique is proposed. Two RBF neural networks are firstly designed to approximate the input unmodel ed dynamics and its inversion. By introducing adaptive control technique, uncertainties are estimated by adaptive law. Then, adaptive tuning law of weight matrices and uncertain parameters are designed using Lyapunov stability theory based back-stepping technique. The developed control scheme guarantees the global stability of the close-loop adaptive systems. Finally, 6DOF simulation results of missile are given to validate the correctness of the control scheme.