Finite-time robust control of morphing aircraft based on time-varying observer

Morphable vehicles have strong nonlinear, strong coupling and strong time-varying characteristics in the process of variation, which brings great challenges to the design of their flight control systems. To address this problem, a time-varying gain extended state observer is proposed to accurately approximate the system coupling terms. Combining adaptive backstepping control technology and finite-time control theory, a finite-time bounded robust adaptive controller is designed. By designing the barrier Lyapunov function, the actual control law and the adaptive network update law are obtained step by step, ensuring that the system command tracking error can converge to a predetermined range within a finite time. Finally, the effectiveness of the designed control system is verified by attitude control simulation. The simulation results show that the morphable vehicle can track the command signal well in the process of variation and is basically not affected by the variation rate.