Pitching attitude dynamics modeling and its control of unmanned dirigible airship
自主飞艇俯仰角姿态动力学建模及控制

In allusion to non-linearity between the dynamical characteristics and the rudder manipulation angle of the unmanned dirigible airship, the dynamics of pitching angle of airship is modeled and the discrete sliding mode variable structure control is applied to the attitude control. It is proved that the proposed control leads to asymptotic stability of the system, improves robustness of the controlled system, and effectively depresses chattering of the tracking errors during the sliding mode gliding movement. The simulation verifies the constructed model for the airship pitching attitude dynamics and shows that the discrete sliding mode variable structure control is suitable for controlling the airship pitching attitude tracking error and justifies the theoretical analysis for control methods proposed in the paper.