Three-dimensional nonlinear trajectory tracking control based on adaptive sliding mode

Abstract

A novel three-dimensional adaptive sliding mode controller (ASMC) is proposed for the nonlinear three-dimensional trajectory tracking of missiles. Firstly, the three-dimensional trajectory tracking problem is decomposed into the pitch channel and the yaw channel, and the trajectory tracking control model of each channel is established, respectively. Secondly, in the design process of the controller, a fast non-singular terminal sliding mode with finite-time convergence characteristics that can avoid singularities and a novel adaptive reaching law that can avoid chattering and accelerate convergence are introduced into the two channels. Thirdly, the Lyapunov stability analysis shows that the adaptive sliding mode tracking controller proposed in this paper can guarantee the rapid convergence and stability of the closed-loop system in the presence of modeling errors. Finally, simulation results show that the controller can effectively complete trajectory tracking under the influence of the wind disturbance and mismatched disturbances.