平流层飞艇航迹跟踪鲁棒控制方法

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中图分类号：V274 文献标志码：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

临近空间是指位于传统航空器最高飞行高度和传统航天器最低轨道高度之间的空天结合战略空间，蕴含着巨大的民用价值和军事价值，是当前国际竞争的前沿领域。（剩余19854字）