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Three dimension path following control of Unmanned Airship based on H#x221E; robust adaptive method

机译：基于H ∞鲁棒自适应方法控制无人驾驶的三维路径

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The 3D path following control of Unmanned Airship th uncertain model and unknown disturbance is investigated. Specific to this problem, first, the time singular perturbation method and orthogonal projection reference frame are used in modeling the centroid motion and attitude motion of the Unmanned Airship into an affine nonlinear system. Next, the network H∞ robust adaptive control method is used in the controller design to overcome uncertain of the model and the influence of external disturbances, at the same time, dominant input idea is used to reduce the complexity of the closed loop. The stability of the system is proved using Lyaponov stability theory. Simulation indicates that the path following controller could guarantee the motion of Unmanned Airship along the prescribed path with well performance.
机译：研究了无人驾驶飞艇不确定模型和未知干扰后的3D路径。具体到这个问题，首先，时间奇异扰动方法和正交投影参考帧用于将无人驾驶飞艇的质心运动和姿态运动建模到仿射非线性系统。接下来，在控制器设计中使用鲁棒自适应控制方法来克服模型的不确定和外部干扰的影响，同时，主导输入的想法用于降低复杂性闭环。使用Lyaponov稳定性理论证明了系统的稳定性。仿真表明，控制器之后的路径可以保证无人驾驶飞艇沿规定的路径的运动，具有良好的性能。

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