【摘要】 由飞艇的动力学模型得到其姿态动力学方程,把该动力学方程与飞艇的运动学方程结合,得到了描述飞艇运动姿态的数学模型。在该模型的基础上,应用输入/输出反馈线性化和Lyapunov方法设计了飞艇姿态鲁棒控制律,该控制律可以实现飞艇姿态按指数规律跟踪期望值。仿真结果表明:即使系统存在不确定性,仍可在闭环系统中实现姿态的精确控制。更多还原

【Abstract】 Based on the six degree of freedom(6DOF)nonlinear dynamic model of airship,the dynamic mathematical model of airship attitude was given.Combined the dynamic equations with the movement equations,the mathematical model of airship attitude were built.Then,Using the input/output feedback linearization approach and Lyapunov method,a control law of airship attitude is designed,which guarantees that the airship attitude exponentially tracks the desired attitude.Simu-lation results show that,precise attitude control is accomplished in spite of the uncertainties in the close-loop system.更多还原