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.

翻译：作为轻于空气的航空系统，机器人飞艇具有长续航能力和本质安全性，但仍极易受风扰影响。本文基于移动质量驱动技术的最新进展，通过显式建模并补偿风致效应，解决了轻于空气平台缺乏扰动感知控制框架的问题。采用移动水平估计器实时推断风扰扰动，并将估计值提供给模型预测控制器，从而实现在变化风况下的鲁棒轨迹与航向调节。所提方法利用二自由度移动质量机构同时产生惯性与气动力矩以进行姿态与航向控制，从而显著提升扰动易发环境中的飞行稳定性。在顶风与侧风条件下开展的大量飞行实验表明，集成的MHE-MPC框架显著优于基准PID控制，验证了该框架在扰动感知轻于空气飞行中的有效性。