中文摘要：

针对飞艇控制系统非线性、大惯性、准确数学模型未知和时变参数等难点，采用经典的PID控制很难取得理想的控制效果。针对上述问题，提出了一种采用极值搜索算法的飞艇自适应控制方法，结合PID控制设计了飞艇姿态控制器，并通过MATLAB仿真验证了控制器的性能，分析了控制器参数、飞艇参数变化对控制系统的影响。结果表明，与经典的PID控制方法相较，采用极值搜索算法的控制系统超调量降低、调节时间减少，反映系统综合性能的误差平方积分性能指标提高，并且能够自适应被控对象参数的变化。上述飞艇自适应控制方法不依赖数学模型，提高了飞艇的动态响应性能，增强了对飞艇时变参数的适应性。

英文摘要：

Blimp control is difficult because of the nonlinear characteristics, large inertia, unknown model and time-varying parameters. Therefore, it is hard to achieve satisfied performance by classic way of PID control. Thus, an adaptive blimp control method based on extremum seeking was presented and the blimp controller combined with PID control was designed. The performance of the method and impacts of the parameters variation on the optimization results were discussed in detail based on MATLAB simulations. The results show that compared with the classic way of PID control, the blimp control system based on extremum seeking has better performance in overshoot and settling time, and it can be adaptive to the parameters variation of the plant. The extremum seeking based blimp control method does not rely on the blimp model, it can improve the dynamic response characteristics and enhance the adaptive ability to the time-varying parameters.