| Citation: | DOU L，LI X K，ZHANG H L，et al. Fixed time trajectory tracking control of forward-tilting morphing aerospace vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（3）：1005-1017 （in Chinese） doi: 10.13700/j.bh.1001-5965.2023.0152
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In view of the trajectory tracking problem of the forward-tilting morphing aerospace vehicle with time-varying disturbance, a non-singular terminal sliding mode control scheme based on immersion and invariance (I&I) theory and fixed time convergence theory was proposed. Firstly, a time-varying disturbance observer based on I&I was designed by combining dynamic scale factors. Secondly, a segmented fixed-time non-singular terminal sliding surface was constructed, which eliminated the singularity of the sliding mode surface and made the system state converge to any small neighborhood of the equilibrium point within a fixed time, and the upper bound of the convergence time had nothing to do with the initial state of the system. Finally, based on the Lyapunov stability theory, the global fixed-time stability of the system was proven, and the upper bound of its convergence time was given. The effectiveness and superiority of the proposed control scheme were verified in two experimental scenarios. Compared with the traditional control method, the control scheme proposed in this paper made the system converge faster and has better anti-disturbance ability.
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