Three dimension path following control of Unmanned Airship based on H∞ robust adaptive method

The 3D path following control of Unmanned Airship th uncertain model and unknown disturbance is investigated. Specific to this problem, first, the time singular perturbation method and orthogonal projection reference frame are used in modeling the centroid motion and attitude motion of the Unmanned Airship into an affine nonlinear system. Next, the network H_∞ robust adaptive control method is used in the controller design to overcome uncertain of the model and the influence of external disturbances, at the same time, dominant input idea is used to reduce the complexity of the closed loop. The stability of the system is proved using Lyaponov stability theory. Simulation indicates that the path following controller could guarantee the motion of Unmanned Airship along the prescribed path with well performance.