Robust Backstepping Controller Design Based on Integral Sliding Mode Surface for Bank-to-Turn Missiles

The sliding mode control and backstepping technology are combined to solve control design problem of bank-to-turn missiles with model uncertainties and strong coupling nonlinear dynamics.First,the backstepping controller is designed based on the nominal model.Then,a compensator based on integral sliding mode surface is used to improve robustness to the model uncertainties and external disturbances.The sliding mode surface is properly designed so that the system can always start at the sliding mode surface.Because the reaching phase is eliminated,the sliding mode exists from the very beginning and the system is more robust against perturbations than the other sliding mode control systems with reaching phase.The simulation results indicate that the method can make sure that the control performance is robust against the parameter perturbations and meet the demand in practice.