Adaptive Sliding Mode Control with Backstepping Approach for a Moving Mass Hypersonic Spinning Missile

The dynamics model of a hypersonic spinning missile with two moving masses is established. Considering the inherent uncertainties of the mathematical model and the aerodynamic parameters, an affine model with external disturbances is established and an attitude adaptive sliding mode controller is designed following the backstepping approach. The stability of the closed-loop system is proved by means of Lyapunov method. A saturation function is introduced to eliminate the chattering of the sliding mode controller, and the numerical simulations show that the attitude controller is effective.