Abstract: Aiming at the characteristics of strong coupling, strong nonlinearity and requirements to meet path constraints during the ascent phase of hypersonic vehicle, a new integrated three dimensional guidance and control algorithm combining cascade control method and the control barrier function is proposed. Firstly, the control barrier function constraint algorithm is designed for the velocity subsystem to meet the path constraints of the vehicle, and then, the backstepping method and dynamic inverse control method are used to design controllers of other subsystems. Both of them constitute the integrated guidance and control controller. Considering the problem that the vehicle is prone to encounter wind disturbances during ascent, a nonlinear disturbance observer is designed to enhance the robustness of the algorithm. Finally, the stability of the system is proved by the Lyapunov function, and simulations verify that the new algorithm can realize the three dimensional tracking control of the hypersonic vehicle while meeting the path constraints in the ascent phase.

Key words: Hypersonic vehicle, Integrated guidance and control, Cascade control, Disturbance observer, Control barrier function