CFD-Based Coupling Aerodynamic–Dynamic Modeling and Full-Envelope Autonomous Flight Control of Semi-Rigid Airships

With the increasing demand for earth observation and communication missions, semi-rigid airships have emerged as critical aerial platforms due to their long endurance and high payload capacity. However, high-precision dynamic modeling and robust autonomous flight control remain challenging because of large hull volume and strong aerodynamic nonlinearities. This study proposes an integrated framework combining computational fluid dynamics (CFD) aerodynamic modeling with full-envelope gain scheduling control. First, nonlinear aerodynamic characteristics over wide ranges of angles of attack and sideslip are identified via CFD simulation, and a six-degree-of-freedom (6-DOF) nonlinear dynamic model incorporating added-mass effects is established. Subsequently, a gain scheduling linear quadratic regulator (LQR) controller is then designed using airspeed, climb rate, and yaw rate as scheduling variables, enabling coordinated control allocation between low-speed thrust vectoring and high-speed aerodynamic surfaces. Simulation results demonstrate improved three-dimensional (3D) path following performance and smooth flight mode transitions. The mean absolute errors (MAEs) in altitude, airspeed, and heading are limited to 0.711 m, 0.028 m/s, and 2.377°, respectively. Furthermore, the system’s robustness is validated under composite wind disturbances, confirming effectiveness of the proposed approach across the full flight envelope.