Adaptive Gliding-Guided Projectile Attitude Tracking Controller Design Based on RBF Neuro-sliding Mode Technique
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ORIGINAL PAPER
Adaptive Gliding-Guided Projectile Attitude Tracking Controller Design Based on RBF Neuro-sliding Mode Technique Wenguang Zhang1 · Wenjun Yi1 Received: 31 July 2019 / Revised: 9 November 2019 / Accepted: 22 November 2019 © The Korean Society for Aeronautical & Space Sciences 2019
Abstract In this paper, a new hybrid scheme which combines radial basic function (RBF) neural network with a model following sliding mode control technique to take their common features is used to solve attitude control problem of gliding guide projectile. The attitude kinematics model described by second-order nonlinear uncertain system is divided into two single-input single-output subsystems by considering the nonlinearity as disturbance. To avoid generating high control value, the coupled inputs are kept as one nominal input instead of being included in lumped uncertainties. The uncertainties in the plant are cancelled by an adaptive RBF neural networks estimator, which is designed based on Lyapunov theory. To verify the effectiveness of the proposed control strategy, attitude tracking control experiments are simulated under strong internal and external disturbances. Keywords Model following control · Sliding mode control · Tracking differentiator · RBF neural network · Attitude tracking control
1 Introduction Traditional ballistic missiles and flying missiles have not been able to achieve full penetration. Therefore, with the improvement of missile defence system, the new missile called boost-gliding-guided projectile which combines the advantages of both ballistic missiles and flying missiles is developed [1]. This kind of missile is launched by barrel weapon. Once coming through the muzzle, it opens the tail wing, which enables it to spin at a specified speed and to maintain stable fight. After a few seconds, the small rocket booster engine on the missile begins working to assist the missile in climbing. Once the rocket shuts down, the missile detect system starts to work. When the missile reaches somewhere near the vertex, the duck rudders are opened. Then the guiding system continuously adjusts the deflections of the rudders to control the attitude of the projectile. By this way, the range is extended and precise strike can be achieved [2]. Due to the rotating characteristics of the projectile and some other factors, such as the delay between the control instructions and the response of the rudder sys-
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Wenguang Zhang [email protected] National Key Laboratory Transient Physics, Nanjing University of Science and Technology , Nanjing 210094, China
tem, there is significant cross coupling between the yaw channel and the pitch channel. What’s more, the glidingguided projectile control model which is always constructed under some assumptions differs from the actual one, and the projectile suffers from uncertain disturbance and dynamic parameters perturbation in flight. In other words, the attitude control problem studied in this paper can be classified as the control problem of nonlinear multiple-input multipleout
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