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中文摘要：
平流层飞艇在靠浮力升空的过程中，需要对其进行姿态稳定控制。针对飞艇的姿态控制系统的非线性、不确定性和多输入多输出特性，给出了基于轨迹线性化的飞艇姿态控制方法。根据奇异摄动理论，将飞艇姿态系统分成内、外两个回路，依据轨迹线性化方法（TLC）分别设计了内回路控制器和外回路控制器；最后，对所设计的飞艇姿态稳定控制器进行了数字仿真验证。仿真结果表明：即使在控制系统参数存在不确定性的条件下，仍可在所设计的闭环系统中实现飞艇姿态的稳定控制。
英文摘要：
During blastoff of the stratospheric airship by buoyancy, stable attitude control is needed. Considering that the airship attitude control system is a nonlinear, uncertain system with multi-input and muhi-output, a method of Trajectory Linearization Control （TLC） for the stratospheric large airship is proposed. Based on the singular perturbation theory, the attitude control system is divided into two loops, a fast loop and a slow loop, and TLC controllers are designed for them respectively. Digital simulation is given for the stratospheric large airship using TLC controller. Simulation results show that precise attitude control is accomplished in spite of the uncertainties in the close-loop system.
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