Sliding modes control design for a class of systems with multiple actuators and its applications

For a class of nonlinear systems with multiple actuators, the output tracking problem is investigated by applying the sliding mode control and the backstepping technique. Based on individual characteristics of different actuators, the discontinuous control in the sliding mode control is implemented via discrete actuator, while the continuous control in the sliding mode control is implemented via continuous actuator. Then, the backstepping technique is applied to ensure that the output of the continuous actuator will converge to the continuous control in the sliding mode control through a finite period of time. The proposed method is applied to the design of a compound control system for missiles with aerodynamically controlled surfaces and lateral jets. Simulations of this compound system have been conducted.