This paper investigates the finite-time tracking control problem for entry vehicle under input saturation and uncertainty. First, a new integral terminal sliding mode surface is devised, which not only renders fast finite-time convergence, but also presents an explicit estimate of settling time. Subsequently, a singularity-free adaptive integral terminal sliding mode control approach is exploited with application of the designed integral terminal sliding mode surface, anti-windup compensator and adaptive technique, which ensures the superior control performance. By introducing linear and fractional power feedback functions into the adaptation mechanism and anti-windup compensator, the designed controller achieves finite-time convergence of tracking errors and estimation errors, while circumventing the overestimation of control gain. Moreover, the finite-time stability is proved by employing Lyapunov theory and bi-limit homogeneity technique. The results of a Monte Carlo simulation show that the final tracking precision within 3 km of the target is improved about 40% under the developed controller.

本文研究了输入饱和和不确定条件下进入车辆的有限时间跟踪控制问题。首先，设计了一个新的积分终端滑模面，它不仅提供了快速的有限时间收敛，而且还提供了稳定时间的显式估计。随后，应用设计的积分终端滑模面、抗饱和补偿器和自适应技术，开发了一种无奇点自适应积分终端滑模控制方法，确保了优异的控制性能。通过在自适应机制和抗饱和补偿器中引入线性和分数阶功率反馈函数，所设计的控制器实现了跟踪误差和估计误差的有限时间收敛，同时避免了控制增益的高估。而且，利用Lyapunov理论和双极限齐次性技术证明了有限时间稳定性。蒙特卡洛仿真结果表明，在开发的控制器下，目标3公里范围内的最终跟踪精度提高了约40%。