目录 Chapter 1Introduction1.1Background1.2Challenge in flight control1.2.1Technical characteristic1.2.2Difficulty and challenge in flight control1.3Recent research1.3.1Dynamic modeling1.3.2Flight strategy and control1.4Content and structure arrangementChapter 2Theoretical Modeling of Threeduct CompoundUAV2.1Introduction2.2Overview of threeduct compound UAV2.3Equation building of motion state2.3.1Coordinate system2.3.2Assumption2.3.3Dynamics equation2.3.4Kinematical equation2.3.5Mass change equation2.4Aerodynamic model of ducted rotor2.4.1Aerodynamic of ducted rotor in hover2.4.2Aerodynamic of ducted rotor in low speed flight2.4.3Verification of calculation result2.5Tail auxiliary ducted rotor2.6Propeller2.7Fuselage2.8SummaryChapter 3Dynamic Modeling with System Identification3.1Characteristic and theoretical basis3.1.1Crosscorrelation function3.1.2Autocorrelation function3.2Flight test platform3.3Identification data processing3.3.1Data outlier removal and correction3.3.2Data filtering3.3.3Data consistency analysis3.3.4Coherence analysis3.4Identification of flight dynamics model3.4.1Multiple input multiple output identification3.4.2Multiple input single output identification3.4.3Single input single output identification3.5SummaryChapter 4Control Strategy in Transition Mode4.1Control strategy for transition4.1.1Mathematical model4.1.2Optimal control4.2SummaryChapter 5Flight control of threeduct compound UAV5.1H∞ robust control5.1.1Control theory basis5.1.2Matematical model considering uncertainty5.1.3Controller design based on dynamic inverse and loop shaping5.1.4Simulation5.2Fuzzy PID control5.2.1Fuzzy control5.2.2Controller design based on improved genetic optimizationalgorithm5.2.3Simulation5.3Fixedwing mode flight control5.3.1Pathtracking control5.3.2Attitude control5.4Flight test5.4.1Fixedpoint hover test5.4.2Forward flight test5.5SummaryReferences
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