摘要 : The problem of station-keeping attitude tracking control for an autonomous airship with system uncertainties and external disturbances is investigated. Adaptive laws are applied to estimate the upper bounds of uncertainties and di... 展开 The problem of station-keeping attitude tracking control for an autonomous airship with system uncertainties and external disturbances is investigated. Adaptive laws are applied to estimate the upper bounds of uncertainties and disturbances, and a nonlinear finite time control scheme is proposed by combing input/output feedback linearization with integral sliding mode technique. Different from the existing works on attitude control of airship, the developed controller can guarantee the yaw, pitch and roll angle trajectories track the desired attitude in finite time in spite of uncertain system uncertainties and external disturbances. Simulation results are provided to illustrate the attitude tracking performance. 收起