Multiple sliding surface control for systems in nonlinear block controllable form

It is well-known that the multiple sliding surface control was developed to eliminate the problem of ‘‘explosion of complexity’’ inherent in the celebrated backstepping method. In this paper, we extend the multiple sliding surface control method further for systems in nonlinear block controllable form. As an application of the proposed control scheme, the robust attitude control law was synthesized for highly maneuverable missiles. Contrary to the classical SISO methods, all nonlinearities of missile attitude dynamics as well as coupling effects between roll, yaw and pitch channels due to roll rate are fully accommodated in the designed nonlinear control law.