中文摘要：

解决平流层飞艇自主航行的首要问题就是航迹规划。飞艇模型具有高度非线性,因此利用动态逆控制理论,通过非线性反馈和动态补偿实现飞艇非线性系统精确线性化,以方便使用庞特里亚金极小值原理设计飞艇时间最优航迹。同时以动态逆控制作为控制内环,以滑模变结构控制作为控制外环,设计双层结构的变结构动态逆航迹跟踪控制系统,实现对飞艇理想航迹的跟踪。该方法将动态逆控制的非线性解耦能力、变结构控制的鲁棒性能与庞特里亚金极小值原理有机结合,可以用来解决平流层飞艇定点悬停控制、悬停点间机动控制等问题,具有很好的工程实用价值。

英文摘要：

The most important issue of solving self-navigate problem for a stratosphere airship is flight path programming.The mathematic model of stratosphere airship is highly nonlinear.In order to program time-optimal flight path of stratosphere airship by Pontryagin＇s minimal principle,the nonlinear model is linearzed exactly by nonlinear feedback and dynamical compensation,using dynamic inversion control theory.A variable structure dynamic inversion flight path tracking control system with double courses structure is applied to follow the ideal flight path.The system uses dynamic inversion control as inner loop control and uses variable structure control as external loop control.Nonlinear decoupling ability of dynamic inversion control,robust performance of variable structure control and Pontryagin＇s minimal principle are under consideration organically in this method.As a consequence,it can be used to solve spot hovering control problem,maneuver problem between fixed stations for the stratosphere airship etc,and has good practical engineering value.