Design of Optimal Control for a Stratospheric Airship Based on Generalized Coordinate Frame

摘要

An optimal control is presented in this paper. First, nonlinear dynamic model of a six degree of freedom stratospheric airship, traditional and full-actuated, is built based on generalized coordinate frame. Second, optimal control law is determined by Hamilton function and performance index function. This optimal control can be regarded as extension of feedback linearization control law.