Backstepping and control allocation for dual aero/propulsive missile control

Based on L2optimal control allocation,an autopilot design approach is proposed for the missile with aerodynamic control surfaces and reaction jets.The control system involves a control allocator and a control law.By utilizing the invariant set analysis method,the control law is designed to produce the virtual control effort signals via a backstepping approach.The control allocator distributes the virtual signals to the actuators on the missile,i.e.,the aerodynamic control surfaces and the reaction jets,by L2optimal control allocation strategy.In the design process,the actuator dynamics and external disturbances are considered.Simulation results show that the missile control system tracks an acceleration command fast and smoothly.In the tracking process,aerodynamic control surfaces cooperate with reaction jets,which verifies the effectiveness of the proposed approach.