针对固体动能拦截器姿控发动机推力恒定、分散式布局控制力矩的强耦合特性及系统模型存在不确定特点的拦截器姿态稳定跟踪控制问题，提出了一种基于自适应鲁棒反演的新型姿态控制器设计方法。充分考虑姿态控制系统中三通道及姿控推力间的相互耦合关系，建立了姿态控制耦合模型，利用反演及滑模方法设计了实际与虚拟控制量。通过自适应方法对系统内各通道间的耦合及不确定项进行估计及补偿，提高了姿态控制的精度。基于PWPF调制方法，将设计的连续控制量解算成可直接用于姿态控制的脉冲控制量，实现了拦截器的数字变推力控制。仿真结果表明，所设计的姿态控制算法在参数摄动及存在不确定干扰的情况下，仍满足姿态稳定跟踪要求。%Aiming at the problem of exo⁃atmospheric kinetic kill vehicle ( KKV) attitude tracking with the characters of con⁃stant thrust, nonlinearity, strong couplings and parameter uncertainties, a novel sliding mode controller was designed which is based on adaptive backstepping theory. The attitude coupling mode was established which considered about interaction between three chan⁃nels and control torque in control loop. The actual control laws and virtual control laws were derived based on the design procedures of sliding mode control and backstepping control, respectively. An adaptive method was introduced to estimate and compensate the model couplings and uncertainties, which improved the accuracy of altitude control. The pulse control laws which could be used for attitude control directly, were calculated from the continuous laws with PWPF modulation. The simulation results show that attitude tracking still satisfies requirements with parameters and disturbance uncertainties.
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