Trajectory Planning and Trajectory Tracking Control Method of Unmanned Airship

Taking the unmanned airship with variable vector double engines propulsion system and X rudder surface as research object, according to the movement characteristic of unmanned airship, the test trajectory is calculated by the trajectory planning method based on approximate decoupling control channel. A control channel switching method with constraints is proposed in the process of trajectory tracking control, and the control channel fault failure compensation strategy is given. The flight motion model of the unmanned airship is established, the test flight trajectory is designed according to the proposed flight trajectory planning method, and the flight trajectory tracking control simulation is carried out. The simulation result shows that the trajectory tracking control method can effectively track the test trajectory, and the analysis result also shows that the trajectory planning method can effectively reduce the risk of mission failure while realizing the flight of unmanned airship.