Adaptive Backstepping Attitude Control with Disturbance Rejection Subject to Amplitude and Rate Saturations of the Elevator

Abstract

In this paper, an adaptive backstepping controller, which can attenuate external disturbance, is proposed for flight vehicle attitude control subject to amplitude and rate saturations of the elevator. First, the elevator rate saturation is incorporated into the amplitude saturation, which results in realistic amplitude-saturation bounds. Then, an attitude-control law is proposed based on the adaptive-backstepping scheme in which the comprehensive elevator amplitude saturation is explicitly considered. In this design approach, two adaptive gains, which are related to the external disturbance and realistic saturation bounds, respectively, are tuned in the control law. The resulting closed-loop system is proved to be uniformly ultimately bounded by the Lyapunov stability analysis approach. Simulation results show the effectiveness of the proposed method.