Compound control system design based on hierarchical sliding mode and ADRC techniques for low speed spinning ballistic missile

Spin is an effective way to penetrate laser´s interception in the first boosting phase. Control couplings, motion couplings and other effects due to spin must be considered in the control system design. Based on the principle of two time-scale separation of missile dynamics, a double-loop design method is applied to the roll channel, its attitude loop and damping loop uses respectively an auto-disturbances-rejection controller (ADRC). For pitch-yaw channel, a hierarchical sliding mode controller is designed to achieve decoupling control, and a nonlinear observer with expanding dimension is introduced into controller to estimate in real time the size of the uncertainties as to weaken the chattering. Numerical simulation results show that this compound controller has strong robustness.