Adaptive Prescribed Performance Control for High-Speed Morphing Vehicles Based on Fully Actuated System Approach

To address the attitude control challenges of high-speed morphing vehicles(HMVs) under strong coupling, parameter perturbations, and multiple sources of disturbances, this paper proposes an Adaptive Prescribed Performance Control (APPC) method based on a fully actuated system modeling. First, the attitude dynamics model of the HMV is reconstructed using the Fully Actuated System Approach (FASA). By employing an order-increasing elimination strategy, the unmodeled dynamics caused by aerodynamic/structural coupling are mitigated, transforming the nonlinear dynamic equations into a fully-actuated system form. Through parametric design of the characteristic polynomial coefficient matrix, state variable decoupling and control separation are achieved. Second, to address the complex uncertainties arising from time-varying aerodynamic parameters and external disturbances during the variable-sweep wing morphing process, an adaptive prescribed performance controller is designed. By constructing time-varying performance boundary functions, the attitude control error is adaptively tracked, and system stability is proven through Lyapunov-based analysis. Finally, comparative studies, including numerical simulations and controller hardware-in-the-loop (HIL) tests, are conducted to validate the proposed controller's dynamic and steady-state performance.