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The vertical launching barrel-cover device is a symmetry mechanism, so we can simplify this symmetry mechanism into an electro-hydraulic servo problem. The vertical launching barrel-cover of the underwater missile has parameter uncertainty, load time-varying and strong nonlinear of motion and coupling during the submarine movement. Therefore, it is important to study the nonlinear adaptive antidisturbances control method of the vertical launching barrel-cover. For the vertical launching cover system of the underwater missile, an adaptive backstepping sliding mode control system based on disturbance observer is proposed. The backstepping sliding mode controller is used to solve the problem of nonlinearity and chattering in the system; the adaptive method is used to dynamically follow the changes of the system characteristics, adjust the controller parameters. At the same time, the disturbance observer is added to the system to reduce the sensitivity of the system to disturbance By completing the process of switching cover, we have experimented with the designed adaptive backstepping sliding mode controller to verify the effectiveness of the controller. The controller improves the stability of the whole switch cover system. The experimental results show that compared with traditional proportional integral (PI) controller and sliding mode controller, the controller solves the problem of over-limit when the cover is in place, and has excellent tracking performance in the process of the switch cover.

Adaptive Backstepping Sliding Mode Control for the Vertical Launching Barrel-Cover of the Underwater Missile