Flight Path Angle Controller Design Based on Adaptive Backstepping Terminal Sliding Mode Control Method

摘要

A method of controlling flight-path angle via adaptive backstepping terminal sliding mode is presented. At the first two steps of the design process of controller. Radial Basis Function (RBF) neural networks are employed to approximate the unknown parameters uncertainty online and the dynamic surface control is combined with backstepping design technique to design the virtual controller, so that the explosion of complexity in traditional backstepping design is avoided perfectly. In the last step, the high-order sliding mode control law is designed by the non-singular terminal sliding mode to eliminate the chattering and make the system robust to uncertainties. It is proved by Lyapunov method that all signals in the closed-loop system are semi-global uniform ultimately bounded, and the tracking error can be adjusted by adjusting the controller parameters to converge into a small neighborhood of zero. Finally, the simulation results demonstrate the validity of the proposed method.