Resumen
This paper presents a novel predefined-time nonsingular tracking control system for a vertical-takeoff horizontal-landing (VTHL) reusable launch vehicle (RLV) in the face of parameter uncertainties, model couplings and external disturbances. Firstly, this paper proposes a novel predefined-time prescribed performance function (PTPPF) with desired steady-state and transient performance. The convergence time of PTPPF from the transient state to the steady state can be flexibly adjusted by changing one parameter. Moreover, the decreasing rate of PTPPF in the transient phase can also be adjusted by changing one parameter on the premise of not changing the convergence time of PPF to reach steady state. A novel predefined-time terminal sliding mode surface (SMS) is designed to avoid the singularity, and the attitude tracking errors on SMS are predefined-time stable. By utilizing PTPPF and error transformation, this paper designs a novel nonsingular sliding mode controller to guarantee the attitudes of RLV with desired tracking performance. Without using piecewise functions, the phenomenon of singularity can be avoided. The Lyapunov method is used to verify the stability of the controller. Lastly, a numerical simulation is presented to validate the efficiency of the proposed controller.