Prescribed performance sliding mode control for high-speed morphing vehicles based on high-order fully-actuated systems

Baisen WANG; Yiming LIAN; Peng WANG

doi:10.7527/S1000-6893.2025.32666

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2026 , Vol. 47 >Issue 11: 332666 - 332666

DOI: https://doi.org/10.7527/S1000-6893.2025.32666

Electronics and Electrical Engineering and Control

Prescribed performance sliding mode control for high-speed morphing vehicles based on high-order fully-actuated systems

Baisen WANG ,
Yiming LIAN ,
Peng WANG

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^1.College of Aerospace Science and Engineering，National University of Defense Technology，Changsha 410073，China
^2.State Key Laboratory of High-Efficiency Reusable Aerospace Transportation Technology，Changsha 410073，China
^3.Hunan Provincial Key Laboratory of Aerospace Cross-Domain Flight Vehicle Systems and Control Technology，Changsha 410073，China

E-mail： wonderful2035@163.com

Received date: 2025-08-11

Revised date: 2025-09-04

Accepted date: 2025-10-14

Online published: 2025-10-17

Supported by

National Natural Science Foundation of China(92371203)

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Abstract

To address the attitude control problem for High-speed Morphing Vehicles （HMVs） under strong coupling， parameter perturbations， and multi-source disturbances， this paper proposes a prescribed performance Super-Twisting Sliding Mode Control （STSMC） method based on High-Order Fully-Actuated Systems （HOFAS） modeling. Firstly， a high-order attitude dynamics model of the vehicle is established using the HOFAS approach. Through dynamic extension and variable elimination， the unmodeled dynamics induced by aerodynamic/structural coupling are mitigated， and the nonlinear dynamic equations are transformed into the HOFAS form. Through the parametric design for the characteristic polynomial coefficient matrix， the decoupling of state variables and separation of control are achieved. Secondly， to handle the lumped uncertainties arising from time-varying aerodynamic parameters during morphing and external disturbances， while also considering the dynamic response characteristics of the actuators， a super-twisting sliding mode controller based on Prescribed Performance Control （PPC） is designed. By constructing time-varying performance boundary functions， the controller robustly constrains attitude control errors and the asymptotic stability of the system is proven using a Lyapunov function. Finally， the performance of the proposed attitude controller is verified through Model-in-the-Loop （MIL） simulations and Hardware-in-the-Loop （HIL） experiments. The results demonstrate that the proposed method significantly reduces control chattering and validates its real-time performance and engineering practicability on an embedded platform.

Key words： high-speed morphing vehicle; high-order fully-actuated system; prescribed performance control; super-twisting sliding mode control; model-in-the-loop; hardware-in-the-loop

Cite this article

Baisen WANG , Yiming LIAN , Peng WANG . Prescribed performance sliding mode control for high-speed morphing vehicles based on high-order fully-actuated systems[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2026 , 47(11) : 332666 -332666 . DOI: 10.7527/S1000-6893.2025.32666

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