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中文摘要：
针对无人飞艇受扰纵向运动难以控制的特点,提出了一种基于自适应Backstepping方法的鲁棒受限控制方法.首先对于飞艇模型中的外部时变干扰,采用参数自适应方法进行有效的处理.然后在无人飞艇飞行控制器设计时,明确考虑到非对称输入饱和限制的影响.引入一个辅助分析系统,对无人飞艇输入限制的影响进行有效分析.同时将辅助分析系统和Backstepping方法相结合,最终为无人飞艇纵向运动设计了自适应受限飞行控制.结果表明：在所设计的自适应受限飞行控制作用下,能有效地处理受扰无人飞艇的时变外部干扰和输入饱和限制,能快速达到理想高度且跟踪到俯仰角参考指令,是一种有效的无人飞艇受限飞行控制方法.
英文摘要：
To solve the difficult control of longitudinal motion with disturbance for unmanned airship,a robust constrained flight control strategy based on adaptive Backstepping method was proposed.The parameter adaptation technology was adopted to effectively tackle the external time-varying disturbance of the airship.When the flight control was designed,the effect of the dissymmetrical saturation input constraints was considered.An auxiliary analysis system was introduced to analyze the constraint effect.Combined the auxiliary analysis system with Backstepping method,an adaptive constraint flight control strategy was designed.The results show that the improved constrained flight control can effectively tackle the external time-varying disturbance and the saturation input constraint of unmanned airship.The desired height can be quickly obtained to track the reference signal of the pitching angle.The proposed constrained flight control is an effective control scheme for unmanned airship.
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