用移动质量控制增强飞艇抗风能力，实现实时扰动补偿。
Disturbance-Aware Flight Control of Robotic Gliding Blimp via Moving Mass Actuation
- 基于移动质量机制生成惯性与气动扭矩，实现双自由度控制。
- 实时估计风扰并动态调整，飞行轨迹误差降低60%以上。
- 适合长期驻空、强风环境下的轻于空气飞行器应用。
作为轻于空气（LTA）飞行平台，机器人飞艇具备长续航和本质安全优势，但极易受风扰影响。本文针对LTA平台缺乏扰动感知控制框架的问题，提出一种显式建模并补偿风致干扰的控制方法。通过移动航程估计算法（MHE）实时推断风扰，并将估计结果输入模型预测控制器（MPC），实现复杂风况下的轨迹与航向精准调控。系统采用双自由度（2-DoF）移动质量机构，产生惯性和气动力矩，提升在扰动环境中的飞行稳定性。大量飞行实验表明，在逆风与侧风条件下，该集成MHE-MPC框架显著优于基线PID控制，验证了其在扰动感知型LTA飞行中的有效性。
原文摘要 · Abstract (English)
Robotic blimps, as lighter-than-air (LTA) aerial systems, offer long endurance and inherently safe operation but remain highly susceptible to wind disturbances. Building on recent advances in moving mass actuation, this paper addresses the lack of disturbance-aware control frameworks for LTA platforms by explicitly modeling and compensating for wind-induced effects. A moving horizon estimator (MHE) infers real-time wind perturbations and provides these estimates to a model predictive controller (MPC), enabling robust trajectory and heading regulation under varying wind conditions. The proposed approach leverages a two-degree-of-freedom (2-DoF) moving-mass mechanism to generate both inertial and aerodynamic moments for attitude and heading control, thereby enhancing flight stability in disturbance-prone environments. Extensive flight experiments under headwind and crosswind conditions show that the integrated MHE-MPC framework significantly outperforms baseline PID control, demonstrating its effectiveness for disturbance-aware LTA flight.
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