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中文摘要：
针对受输入饱和约束的直接侧向力与气动力复合控制的导弹，研究其自动驾驶仪设计问题。导弹的执行机构分别是舵机和侧向脉冲发动机。舵机提供的是连续的控制量，而侧向脉冲发动机提供的是离散的控制量。首先采用最优控制方法设计连续的舵控制器。再对设计好舵控回路的新受控弹体，基于含有界干扰项离散饱和系统不变集分析方法进行直接侧向力控制器的设计。设计过程中，充分考虑了舵偏角的饱和非线性因素以及侧向脉冲发动机点火数取整产生的量化误差。最后，利用数值仿真验证了所提出控制方法的有效性。
英文摘要：
For a missile controlled by the combination of lateral pulse thrusters and aerodynamic fins subject to input saturation, an autopilot is designed. The aerodynamic fins are continuous actuators, while the lateral pulse thrusters are discrete ones. A continuous controller for aerodynamic fins is first designed by using the linear quadratic optimal control method, and then the discrete lateral pulse thrusters control system is designed based on the continuous aerodynamic fins control system. An optimization-based approach is developed to design the controller of lateral pulse thrusters by utilizing the invariant set analysis with bounded disturbance rejection. In the design process, the actuator saturation of fins and the quantized error of thrusters are considered. Numerical simulation shows the effectiveness of the presented approach.
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