中文摘要：

研究了一种基于自适应神经网络补偿的平流层飞艇前向速度与姿态控制系统设计方法.针对近似模型进行常规线性动态补偿器设计,并引入自适应径向基函数（RBF,radial basis function）神经网络对模型误差进行补偿.根据Lyapunov方法得到神经网络权值自适应律,保证了闭环系统误差信号一致最终有界.仿真结果表明对于两类不同的飞艇模型,所设计的控制器在响应性及对未知环境风速作用的鲁棒性方面均具有良好的效果.

英文摘要：

By designing a speed and attitude control system based on the adaptive neural network compensation, this paper investigates the cruise tracking control problem for the stratospheric airship. An adaptive RBFNN （radial basis function neural network ） is used to compensate modeling errors, which come from the approximate model applied to a regular linear controller design. The network weight adaptation law, derived from the Lyapunov stability analysis, guarantees that the tracking errors are ultimately bounded. Simulation results demonstrate the excellent performance and robustness of the controller, even if environmental winds with unknown information exist.