Nonlinear attitude control for missile with swing nozzle

With the swing nozzle as the actuator of the missile attitude control system, the three-channel attitude coupling control problem of the initial vertical launch of missile is investigated. A detailed attitude dynamics model of the missile with swing nozzle is established and then is combined with the attitude kinematics model denoted by Euler angles. Based on the dynamic surface control technology, a new adaptive sliding mode controller is designed under the condition of aerodynamic parameter uncertainty, and a rigorous stability proof is given using the method of Lyapunov. In order to avoid the chattering, the sign functions in the control law are replaced with saturation functions. Numerical simulation results verify the effectiveness of the proposed controller.