针对飞艇运动姿态的小扰动模型,利用极点配置方法设计了积分滑模控制器。对飞艇“×”型舵面出现的故障,给出了期望的特征根,并选择合适的特征向量来构造积分滑模面。给出了一种快速的趋近律形式,并证明了其稳定性。仿真结果表明,与PD控制器相比,积分滑模控制器能使飞艇的运动姿态保持良好。 Aiming at the small perturbation model of the airship’s attitude, an integral sliding mode controller is designed by using the pole placement method. For the failure of the airship “” type rudder surface, the desired eigenvalues ​​are given, and the appropriate eigenvectors are selected to construct the integral sliding surface. A fast form of reaching law is given and its stability is proved. The simulation results show that the integrated sliding mode controller can keep the airship in good posture compared with the PD controller.