Robust adaptive controller design for block BTT missile model

Firstly,BTT block control model,which was suitable for backstepping design,was given for nonlinear model of BTT missile.Making full use of the characteristic of the system and combining block control principle,backstepping technique,robust control and adaptive control method,a robust adaptive controller design method was proposed.Uncertainties in every sub-block were allowed."Computer explosion" is reduced by introducing nonlinear tracking differentiator and the possible singularity of controller is avoided when the control matrix is unknown.It is proved that the state tracking errors and parameter errors converge to the neighborhoods of the origin exponentially.Finally,the given simulation results show the effectiveness of the proposed method.