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Mathematical Problems in Engineering
Volume 2014, Article ID 801747, 19 pages
Research Article

Adaptive Backstepping Finite Time Attitude Control of Reentry RLV with Input Constraint

College of Electric Engineering and Automation, Tianjin University, No. 92, Weijin Road, Nankai District, Tianjin 300072, China

Received 2 August 2013; Revised 16 December 2013; Accepted 17 December 2013; Published 29 January 2014

Academic Editor: Rongni Yang

Copyright © 2014 Fang Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents the finite time attitude tracking control problem of reusable launch vehicle (RLV) in reentry phase under input constraint, model uncertainty, and external disturbance. A control-oriented model of rotational dynamics is developed and used for controller design for the complex coupling of the translational and rotational dynamics. Firstly, fast terminal sliding mode control is incorporated into backstepping control to design controller considering model uncertainty and external disturbance. The “explosion of terms” problem inherent in backstepping control is eliminated by a robust second order filter. Secondly, the control problem in the presence of input constraint is further considered, and a constrained adaptive backstepping fast terminal sliding mode control scheme is developed. At the control design level, adaptive law is employed to estimate the unknown norm bound of lumped uncertainty with the reduction of computational burden. The Lyapunov-based stability analysis of the closed-loop system is carried out. The control performance is presented via the simulation of six-degree-of-freedom (6-DOF) model of RLV.