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Mathematical Problems in Engineering
Volume 2015, Article ID 237453, 16 pages
Research Article

Nonlinear Constrained Adaptive Backstepping Tracking Control for a Hypersonic Vehicle with Uncertainty

1State Key Laboratory of Metastable Materials Science and Technology, School of Mechanics, Yanshan University, Qinhuangdao, Hebei 066004, China
2School of Science, Yanshan University, Qinhuangdao, Hebei 066004, China
3School of Electric Engineering and Automation, Tianjin University, Tianjin 300072, China

Received 21 May 2015; Accepted 14 September 2015

Academic Editor: Yang Tang

Copyright © 2015 Qin Zou 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.


The control problem of a flexible hypersonic vehicle is presented, where input saturation and aerodynamic uncertainty are considered. A control-oriented model including aerodynamic uncertainty is derived for simple controller design due to the nonlinearity and complexity of hypersonic vehicle model. Then it is separated into velocity subsystem and altitude subsystem. On the basis of the integration of robust adaptive control and backstepping technique, respective controller is designed for each subsystem, where an auxiliary signal provided by an additional dynamic system is used to compensate for the control saturation effect. Then to deal with the “explosion of terms” problem inherent in backstepping control, a novel first-order filter is proposed. Simulation results are included to demonstrate the effectiveness of the adaptive backstepping control scheme.