Block Dynamic Surface Control Applied to a Sea-Skimming Missile

Researchers propose to keep the nonlinear body-axes six-degree-of-freedom (6-DOF) model by grouping the states variables into two separate row vectors: one for kinematics and the other for dynamics equations. By doing this, the equations appear in a blockstrict-feedback form. The backstepping approach is employed to solve this problem. As the characteristics nonlinearity and the coupling of the attitude channels are not added to the uncertainty term, it has smaller amplitude, demanding less control action and producing a more robust control system.