A new design method of trajectory tracking controller for fully-actuated stratospheric airship based on the
trajectory linearization control(TLC) strategy is presented, which consists of desired attitude calculation, kinematics
controllers and dynamics controllers. Firstly, based on the desired trajectory, the Frenet frame is established to construct the
desired airship-fixed frame. Then the system kinematics is divided to position and attitude kinematics, the system dynamics is
split to longitudinal and lateral dynamics, such that corresponding four controllers can be designed separately, which avoids
the difficulty of inverting the system dynamics with six degree of freedom. Finally, the control algorithm is described, and
the simulation results for airship to track the typical trajectory show the feasibility of the proposed method.