Longitudinal Trajectory Planning and Attitude Control of Hypersonic Morphing Vehicle

Aiming at the strong nonlinearity, strong coupling, uncertainty and other characteristics of hypersonic vehicle under morphing conditions, this paper studied the trajectory planning and attitude control problem of its longitudinal channel, and put forward a combined trajectory planning-open-loop independent morphing/control flight strategy. Firstly, a set of equations of motion for the longitudinal channel of the vehicle was established; then a sequential convex optimization solution method based on a new variable time-domain receding framework was designed for solving the trajectory planning problem of the gliding segment with free terminal time, and then an angle of attack reference command and an open-loop morphing command were obtained; on this basis, a backstepping sliding mode control method based on Extended State Observer was designed, and Particle Swarm Optimization algorithm was introduced to optimize the controller parameters, which further improved the control performance; finally, the effectiveness of the designed combined flight strategy was verified by simulation results.