This paper designs a novel adaptive robust optimal sliding mode control (SMC) strategy for constrained input missile system with uncertain input and unknown disturbance. First, a smooth function is employed to map the constrained input. Based on SMC theory, a fast adaptive SMC scheme is designed to reduce the effects of unknown input and approximate error which has two advantages. One is that the proposed scheme is independent of the uncertain information. The other is that the proposed scheme forces the states to converge with exponential rate as they are far away from the sliding mode surface, and the states move with linear rate when they are closed to the sliding mode surface. Then, a zero-sum differential games strategy-based adaptive dynamic programming (ADP) technique is employed to obtain the optimal performance of sliding mode dynamics system. The loop-system and estimation weight error can be proved stable by utilising Lyapunov theory. Finally, the missile autopilot system is used to indicate the effectiveness of the designed approach.

针对输入不确定、扰动未知的约束输入导弹系统，本文设计了一种新的自适应鲁棒最优滑模控制（SMC）策略。首先，使用平滑函数来映射受约束的输入。基于SMC理论，设计了一种快速自适应SMC方案，以减少未知输入和近似误差的影响，具有两个优点。一是所提出的方案与不确定信息无关。另一个是所提出的方案迫使状态在远离滑模面时以指数速率收敛，而当状态靠近滑模面时以线性速率移动。然后，采用基于零和微分博弈策略的自适应动态规划（ADP）技术来获得滑模动力学系统的最优性能。利用李雅普诺夫理论可以证明循环系统和估计权重误差是稳定的。最后，导弹自动驾驶系统用于表明设计方法的有效性。