基于微分包含镇定的固体运载火箭上升段轨迹跟踪

Aiming at the problem that the traditional solid launched vehicles (SLV) trajectory tracking method cannot adapt to a large range of parameter uncertainties, a differential inclusion stabilization based trajectory tracking controller is proposed. Firstly, the uncertainties are combined with the dynamic equation to establish the differential inclusion system about the state deviations. Secondly, a state feedback law based on linear matrix inequality (LMI) is designed to stabilize the polytopic part of differential inclusion systems to solve the large range parameter uncertainties. Then, the magnitude constraints of the correction of the angle of attack and sideslip are transformed into LMI. Finally, an adaptive law is designed to estimate the disturbance in the differential inclusion system. Combined with the state feedback law and the control variable constraints, a differential inclusion adaptive saturated trajectory tracking controller is constructed. The simulation results show that the terminal state deviations converge and meet the terminal accuracy within the given parameter uncertainty ranges. Compared with the tracking controller based on extended state observer, the proposed controller widens the applicable uncertainty boundaries.