Attitude control of stratospheric airship with ballonets and elevator

Air ballonets and elevator are adopted as the main actuators of stratospheric airship in pitch attitude control, actuator dynamics of ballonets and elevator in pitch control are established including the energy consumption models. The varied-weight pseudo inverse method (VWPI) was introduced in control allocation between the ballonets and the elevator in pitch control under different airspeed. The varied weights can be determined by optimal calculation based on the real energy consumption of ballonets and elevator with different airspeed. Optimal control allocation based on pseudo inverse with varied-weights was achieved in pitch control.