Hierarchical coordination control method for near space flight vehicle with aero and direct force actuators

Proposed an attitude control method based on hybrid dynamic system theory and hierarchical coordination control for near space vehicle with both aero and direct force actuators (blended actuators vehicle, BAV). The mathematical model of BAV was derived and the hybrid dynamic characteristics of the vehicle were analyzed. A hierarchical control framework with two level controllers for BAV was presented and described as hybrid automaton. Design method for the two level controllers was given. The usefulness and effectiveness of the proposed hierarchical coordination control method were demonstrated through numerical simulation. The results showed that the vehicle accomplished guidance and control mission successfully under the control of the designed controllers, though there were modeling uncertainty and disturbances. The hierarchical coordination control method is a useful way to design attitude controllers for BAV.