Study on optimization and practical use of adaptive disturbance rejection control systems for outdoor flight of an airship and outdoor flight experiments

本研究的目的是为欠驱动飞艇开发一些实用的自动控制系统。我们的主要结果之一是解决了一些有用的三维控制问题，并提出了一些自适应控制系统，以保证在存在未知持续风扰动的情况下飞艇的动力学受到有界不确定性的渐近扰动抑制。进行了大量的飞行仿真和实验，验证了所提出的控制系统的有效性。

The aim of this study is to develop some practical automatic control systems for an underactuated airship. One of our main results is to solve some useful 3-dimensional control problems and to present some adaptive control systems to guarantee asymptotical disturbance rejection for the case where the dynamics of the airship are subjected to bounded uncertainties in the presence of a unknown persistent wind disturbance. Many flight simulations and experiments have been performed and the effectiveness of the proposed control systems has been demonstrated.