Adaptive sliding mode controller design for BTT missile based on backstepping control

Based on backstepping design, adaptive control and sliding mode control, a new adaptive backstepping sliding mode controller was designed for BTT missiles with unmatched uncertainties. Continuous sliding mode control with norm switching function was used in each step of backstepping design, and the adaptive gain parameter was tuned to deal with the uncertainties. "Computer explosion" was solved by adaptively estimating the upper bound of the derivative of the virtual control and compensating it by sliding mode control. In this way, the controller is simplified and the upper bound of aerodynamic parameters is not required. Using Lyapunov stability theorem, the tracking error is shown to be ultimately bounded. Simulation results show the effectiveness of the proposed method.