Autonomous dynamics-modeling and feedback control for an airship
自治飞艇动力学建模及反馈控制

By Kirchhoff equations and Newton-Euler laws, we developed a general and practical dynamic model with six degrees of freedom for an airship equipped with ballonets and ballast. A nonlinear feedback is used to implement the transformation of states and control variables, and the minimum-phase system property is adopted in building the feedbacklinearized dynamic model for the airship. On this basis, we investigate the feasibility and the stability of the equilibrium flight of the airship in a longitudinal plane, and the stabilization of the equilibrium flying paths as well as the tracking of the desired outputs. The simulation results and the prototype test results verify the theoretical analysis and confirm the reliability.