针对系统不确定性和外界干扰条件下飞艇降落过程的控制问题，利用飞艇的6自由度非线性动力学模型设计了基于滤波器的含修正补偿的改进自适应反演控制器，并通过Lyapunov理论验证了系统的稳定性.结果表明，指令滤波器和改进的反演控制律能够减小气动误差并抑制外部扰动不确定性的突变.即使飞艇控制系统中存在不确定因素以及外界扰动，带滤波的改进自适应反演控制方法也可以确保飞艇沿既定路线降落.
As stratospheric platforms, stratospheric airships are generally so large, it is difficult for them to land back on ground accurately after their tasks. Consequently, the control problem of airship landing with system uncertainties and external disturbances is considered. A sixdegreeoffreedom airship model is used, and a command filtered modified backstepping control law combined with adaptive theory is designed based on Lyapunov theory. The command filter and the improved backstepping algorithm can deal with the uncertainties in both dynamic errors and the external disturbances. Numerical simulation results demonstrate good performance for the landing of the airship even under wind condition.
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