Abstract: Abstract：Considering large projectile envelope and complex flight environment, the model exists high uncertainty, external wind and internal disturbance, which increase difficulties of rolling attitude control. Furthermore, axisymmetric miniature missile with small aspect ratio structural characteristics lead to weakness in quality of rolling control based on classical control theory, especially in robustness and antidisturbance ability. Thus, the reducedorder ESO proposed estimates compound disturbance and then realtimely compensate for inputs. Then, the LQR stability design method with the integral term is adopted for controller designing on the basis of simplified nominal model. Last, the essay proves the stability of closedloop system. And the simulation results show that this combined control system designed has more excellent characteristics than PID controller.  

Key words: Keywords：miniature airtoground missile, improved LQR controller, reducedorder ESO, antidisturbance, composite control