The Control of Asymmetric Rolling Missiles Based on Improved Trajectory Linearization Control Method

ABSTRACT According to motion characteristic of an asymmetric rolling missile with damage fin, a three-channel controlled model is established. The controller which is used to realize non-linear tracking and decoupling control of the roll and angle motion is introduced based on an improved trajectory linearization control method. The improved method is composed of the classic trajectory linearization control method and a compensation control law. The classic trajectory linearization control method is implemented in the time-scale separation principle. The Lipschitz non-linear state observer systematically obtained by solving the linear matrix inequality approach is provided to estimate state variables and unknown parameters, and then the compensation control law utilizing the estimated unknown parameters improves the TLC method. Simulation experiments show that the adaptive decoupling control ensure tracking performance, and the robustness and accuracy of missile attitude control are ensured under the condition of the system parameters uncertainty, random observation noise and external disturbance caused by damage fin.

摘要：针对带损伤舵面的非对称滚转导弹运动特性，建立了三通道控制模型。基于改进的轨迹线性化控制（Trajectory Linearization Control, TLC）方法，设计了可实现滚转与姿态角运动非线性跟踪和解耦控制的控制器。该改进方法由经典轨迹线性化控制方法与补偿控制律构成，其中经典轨迹线性化控制方法基于时间尺度分离原理实现。通过求解线性矩阵不等式（Linear Matrix Inequality, LMI）方法系统推导得到Lipschitz非线性状态观测器，用于估计状态变量与未知参数；随后利用估计得到的未知参数构建补偿控制律，对轨迹线性化控制方法进行优化改进。仿真实验结果表明，所提出的自适应解耦控制方法可保障跟踪性能，且在系统参数不确定性、随机观测噪声以及损伤舵面引发的外部扰动条件下，可有效保障导弹姿态控制的鲁棒性与控制精度。