Attitude control for stratospheric autonomous airship based on dual-loop sliding mode

The attitude control system of Stratospheric Autonomous Airship with highly nonlinear, multivariable and uncertain parameters bring great challenges to control design. A dual sliding mode control was studied in this paper. Firstly, the mathematical model of an attitude motion of the Stratospheric Autonomous Airship was derived. Secondly, the attitude model was divided into a dual loop structures by using a technology of the multiple time scale. Finally sliding model controllers were designed for each of loops, and the stability of the closed-loops system were proved by using Lypaunov analysis. The simulation results showed that the control method could effectively track the attitude instruction.