综合考虑高超声速滑翔式BTT导弹各种干扰的影响，建立了具有非匹配不确定性的非线性、强耦合姿态运动方程，并转化为标准形式。针对模型中的未知不确定性，提出了鲁棒估计函数，利用反演控制和自适应控制设计了高超声速导弹的自动驾驶仪，解决了由于对期望虚拟控制量进行求导产生的“计算膨胀”问题，证明了每一步反演设计的Lyapunov稳定性，并进行了数字仿真。仿真结果表明，所设计的自适应反演控制器能够精确跟踪姿态角指令，并对大范围气动参数摄动具有很强的鲁棒性。

Considering the impact of various interferences, the attitude motion equations of the supersonic gliding BTT missile were built up, which are nonlinear, high coupling and comprising many non-matching uncertainties.And the pneumatic parameters are fit using nonlinear method.To the unknown uncertainties, a robust estimating function was put forward, and an autopilot was designed for the supersonic missile by using adaptive control and backstepping control.The problem of “calculation expansion”, caused by derivation to the virtual expectation controlled variable, was solved.The Lyapunov stability for each step backstepping design was proved.Finally, the approach was applied to the simulation of the design of the control system of BTT-missile.The results turn out that the robust adaptive backstepping design approach has good tracking ability and strong robustness for the aerodynamic parameters perturbation.