A sliding⁃mode⁃differentiator⁃based robust backstepping controller was designed for air⁃breathing hypersonic vehicles with aerodynamics,propulsion and structural flexible dynamics couplings. Virtual and actual control laws were designed based on backstepping and dynamic inversion design procedure respectively. Sliding mode differentiator was introduced to obtain the deriva⁃tives of virtual control laws,which avoids the explosion of differentiation terms in the traditional backstepping control.A nonlinear disturbance observer,based on sliding mode differentiator,was introduced to estimate and compensate the model uncertainties of pre⁃cisely,which enhances the controller's robustness.Simulation results demonstrate the effectiveness of this controller in tracking veloc⁃ity and altitude commands in the presence of model uncertainty and flexible dynamics.%针对吸气式高超声速飞行器气动＼推进＼结构弹性耦合运动学模型，提出了一种基于滑模微分器的鲁棒反演控制器设计方法。分别采用反演和动态逆方法设计虚拟控制量和实际控制量。引入滑模微分器来精确估计虚拟控制量的导数，避免了传统反演控制方法“微分项膨胀”问题。基于滑模微分器，设计了一种非线性干扰观测器，可对模型不确定项进行精确估计和补偿，从而增强了控制器的鲁棒性。仿真结果表明，该控制器对模型不确定性和气动弹性影响具有较强的鲁棒性，且能实现对速度指令和高度指令很好的跟踪效果。
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