Random Trajectory Tracking For Low Altitude Airship

In this paper,the design scheme of backstepping and adaptive backstepping controller based on energy function are presented for a low altitude airship trajectory tracking control with stochastic disturbance.First,the dynamic model of six degrees of freedom system in hybrid coordinate system is established.Then,the stochastic disturbance of airflow to airship is regarded as the second order moment process,and the stochastic dynamic equation of low altitude airship is obtained.The trajectory tracking controller with design parameters is obtained by using vectorial backstepping method,such that all signals of the system are bounded and the tracking error can be made arbitrarily small.Modeling in hybrid coordinate system simplifies the transformation matrix between position and velocity of the airship,which makes the controller simpler.Compared with the controller design scheme based on other modeling methods,it is easier to apply to practical engineering.