推力矢量控制技术可以有效地解决飞艇低速飞行时舵效不足的问题，但其具有很强的非线性特性，加之飞艇体积庞大，易受风干扰，所以经典的控制器难以满足要求。Backstepping是一种基于递推反演的非线性控制方法，特别适用于强非线性及存在不确定性的系统。针对飞艇的六自由度非线性模型，引入Backstepping方法对带推力矢量飞艇设计了姿态控制器并进行了仿真验证，结果表明所设计的非线性控制器具有良好的动态性，实现了对受扰系统的全局镇定和对给定偏航角的渐进跟踪。%Thrust vector control technology can effectively solve the problem of insufficient rudder aerodynamic efficiency when the airship is in low speed flight,but the classical controller design method can not meet the requirments because it has strong nonlinear characteristics,airship is of huge volume and is susceptible to wind interference. Backstepping is a nonlinear controller design method based on recursion,especially suitable for the system with strong nonlinearity and uncertainty. As for six degrees of freedom nonlinear model of airship,the Backstepping method was introduced into design of the attitude controller in the airship with thrust vector,and the control effect of the controller was validated by simulation. The results show that the controller has good dynamic characteristics,achieved the goal of global stabilization for the disturbed system and asymptotic tracking for the given yaw angle.
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