垂 直 起 降 可 重 复 使 用 运 载 火 箭 全 剖 面 飞 行 预 设 性能控制

To solve the problem of high-precision and robust attitude control system design for vertical takeoff and ver⁃ tical landing reusable vehicle in full flight profile under the action of multiple heterogeneous actuators，a prescribed per⁃ formance control method is proposed. A set of control structure and control parameters are adopted to realize the full flight profile control of the vehicle. Firstly，the dynamics model of the vehicle in seven flight stages is established. To reduce the mutation caused by guidance command switching，a second-order reference model is designed，and the state equation of attitude tracking error is derived based on the reference model. Secondly，a novel prescribed perfor⁃ mance function with appointed convergence time is designed. The new error variables are derived，and the control model is also established. Then，based on the new error variables，the attitude control law with predefined time con⁃ vergence characteristics is derived and its stability is proved. Finally，to further improve the robustness，an extended state observer is introduced to estimate the second derivative of the new error variable and the external disturbance，so as to reduce the complexity of the controller and improve the control accuracy. Simulation results show that com⁃ pared with the Proportional Differential（PD）controller，active disturbance rejection sliding mode controller and other prescribed performance controller，the proposed method has the advantages of fewer parameters，simpler parameter tuning，higher precision and stronger robustness.