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·380 工程科学学报,第42卷,第3期 部参数不确定性问题,同时考虑矢量螺旋桨速率 directional control of an autonomous airship against actuator 饱和限制,进行故障诊断与容错控制器的设计问 fault//2016 35th Chinese Control Conference (CCC).Chengdu, 题,从而实现多种条件下的轨迹跟踪性能 2016:10538 [12]Scott,R.W.Application of Sliding Mode Methods to the Design 参考文献 of Reconfigurable Flight Control Systems [Dissertation].Davis: University of California,2002 [1]Nayler A.Airship activity and development world-wide- [13]Xiao B,Hu QL,Zhang Y M.Adaptive sliding mode fault tolerant 2003/ALAA's 3rd Anmal Aviation Technology,Integration.and attitude tracking control for flexible spacecraft under actuator Operations (ATIO)Tech.Denver,2003:AIAA 2003-6727 saturation.IEEE Trans Contr Syst Technol,2012,20(6):1605 [2]Mueller J,Paluszek M,Zhao Y.Development of an aerodynamic [14]Wang B,Zhang Y M.An adaptive fault-tolerant sliding mode model and control law design for a high altitude airship//A144 3rd control allocation scheme for multirotor helicopter subject to Unmanned Unlimited"Technical Conference,Workshop and simultaneous actuator faults.IEEE Transind Electron,2018, Exhibit.Chicago,2004:AIAA 2004-6479 65(5):4227 [3]Yang Y N.Dynamics Modeling and Flight Control for A [15]Shen Q,Yue C,Goh C H,et al.Active fault-tolerant control Stratospheric Airship[Dissertation].Changsha:National University system design for spacecraft attitude maneuvers with actuator of Defense Technology,2013 saturation and faults.IEEE Trans Ind Electron,2019,66(5):3763 (杨跃能.平流层飞艇动力学建模与控制方法研究学位论文].长 [16]Zhang Y M.Suresh V S.Jiang B.et al.Reconfigurable control 沙:国防科学技术大学,2013) allocation against aircraft control effector failures//2007 /EEE [4]Zhang J S,Yang XX.Trajectory control method of stratospheric International Conference on Control Applications.Singapore, airship based on the sliding mode control and prediction in wind 2007:1197 field//LIDAR Imaging Detection and Target Recognition 2017. 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