全状态受限下的跨介质飞行器预设性能反步控制

Aiming at the control problem of high-speed water entry process for cross-medium vehicles with comprehensive uncertainty and full-state constraints，a prescribed performance disturbance compensation backstepping control strategy based on error constraints is proposed. A longitudinal motion model for high-speed water entry of cross-medium vehicles is established and simplified into an error model suitable for controller design. A recursive finite-time disturbance observer is designed to estimate the comprehensive uncertainty including system internal errors and external environmental disturbances in real time. The full-state constraint problem is transformed into an error constraint problem， and barrier Lyapunov functions and prescribed performance functions are introduced into the backstepping control framework to ensure that the state tracking errors always meet the preset constraint conditions. The stability of the closed-loop control system is proved based on Lyapunov theory，and all states of the system are verified to be bounded and strictly satisfy the prescribed constraint requirements. The effectiveness and correctness of the proposed control strategy under complex high-speed water entry conditions are verified through comparative simulation experiments，which can provide theoretical and methodological support for high-precision constraint control of cross-medium vehicles.