平流層飛艇航跡跟蹤魯棒控制方法

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中圖分類號(hào)：V274 文獻(xiàn)標(biāo)志碼：A DOI：10.12305/j.issn.1001-506X.2025.06.28

Abstract：A flight path follwing robust control method for stratospheric airship is proposed to solve the problemof how to design the flight path following for stratospheric airship with large inertia，low dynamic，and theflight speed being on the same level as the environmental wind field.A stratospheric airship dynamics model with therefinement of the impact of wind disturbance is established by introducing wind disturbance force and torque models.For the wind disturbance in the guidance loop of the stratospheric airship，a line of sight guidance law withcombination of the extended state observer and the fuzzy logic is presented.The extended state observer is used to estimate the ground speed side slipangle inreal time，which eliminates the disturbance caused by observation error.The lock-ahead distance is adaptively adjusted based on the fuzzy logic，which reduces the oscillation when near the desired flight path，without changing theconvergence speed of following errors when far away from the desired flight path.For the wind disturbance and aerodynamic parameter perturbation in theatitudecontrolloopof the stratospheric airship，ayaw angletracking controllaw is designed based ona non-singular terminal sliding modeand a fuzzy variable coeficient double power reaching law.The extended stateobserver isused to eliminate the negative impact of internal and external disturbances on the atitude control loop and suppress chatering.The stabilityof the guidance law and theatitudecontrol law are proved based onLyapunov theory.Therationalityand effectiveness of the proposed method areverified through simulation，and itis verified thatthe proposed method is beneficial for improving therobustness offlight path following by comparing with traditional methods.

Keywords：stratospheric airship；flight path following；line of sight guidance；extended state observer; sliding mode control

0 引言

臨近空間是指位于傳統(tǒng)航空器最高飛行高度和傳統(tǒng)航天器最低軌道高度之間的空天結(jié)合戰(zhàn)略空間，蘊(yùn)含著巨大的民用價(jià)值和軍事價(jià)值，是當(dāng)前國(guó)際競(jìng)爭(zhēng)的前沿領(lǐng)域。（剩余19854字）