CN109634296A - Small drone catapult-assisted take-off control system and method based on the robust theory of servomechanism - Google Patents
Small drone catapult-assisted take-off control system and method based on the robust theory of servomechanism Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0661—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for take-off
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Abstract
The invention discloses a kind of small drone catapult-assisted take-off control systems and method based on the robust theory of servomechanism, the controller is the series controller of posture angle controller and altitude rate controller, wherein, posture angle controller uses the control structure of robust servo, and altitude rate controller uses PID control structure.Its control method includes that ejection prepares section and launches the two-part Discrete control of section, wherein, ejection prepares the control strategy that section uses preset fixed rudder face, and ejection section uses the control strategy of control altitude rate, and ejection prepares section and determined with the control switching for launching section by air speed.The present invention solves the problems, such as control access opportunity, and control safety is effectively ensured；It will take off and control rudder face and extend to whole usable ranges；The robustness of system can be enhanced, improve the ability of system attack external interference.The present invention realizes the full discretionary security control of small drone catapult-assisted take-off, guarantees that unmanned plane is liftoff safely.
Description
Technical field
Controller and method the present invention relates to a kind of small drone in the catapult-assisted take-off stage belong to control technology neck
Domain.
Background technique
Currently, small drone due to its low cost, it is easy to maintain the advantages that increasingly have been favored by people.It is different from
The takeoff mode of large-scale unmanned plane, small drone pass through launching apparatus usually using matched catapult launcher
Ejection, which speeds up to realize, takes off.Since catapult-assisted take-off process is short, control too early or access all easily cause to take off unsuccessfully too late；
Simultaneously because itself light weight, flying speed are low, stability, easily it is affected by environment the features such as, it is desirable that controller itself has
Stronger robustness.Therefore, a kind of not only can guarantee is designed to take off safety but also can guarantee that there is system the ejection of higher robustness to rise
Flying control program, there is important Practical Project to be worth.
Summary of the invention
The object of the present invention is to provide a kind of, and the small drone catapult-assisted take-off based on the robust theory of servomechanism controls system
System and method to solve the problems, such as due to ejection process of short duration bring control access opportunity, and have higher robustness, Neng Goubao
Demonstrate,prove safety and steady transition of the unmanned plane from ejection to normal flight.
To achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of small drone catapult-assisted take-off control system based on the robust theory of servomechanism, the control system are posture
The series controller of angle controller and altitude rate controller, wherein posture angle controller uses the control knot of robust servo
Structure, altitude rate controller use PID control structure.
The posture angle controller is the series controller of pitch rate control loop and pitch loop.
The pitch rate inner looping uses the integration control structure based on the robust theory of servomechanism, with pitch angle speed
Input quantity of the rate deviation as integrator.
The altitude rate controller uses the control structure of proportional-plus-integral, and controlled volume is the height change of unmanned plane
Rate.
A kind of small drone catapult-assisted take-off control method based on the robust theory of servomechanism, including ejection prepare section and
Launch the two-part Discrete control of section, wherein ejection prepares the control strategy that section uses preset fixed rudder face, and ejection section is using control
The control strategy of altitude rate processed, ejection prepare section and are determined with the control switching for launching section by air speed；
Catapult-assisted take-off control controller used is the series controller of posture angle controller and altitude rate controller,
Wherein, posture angle controller uses the control structure of robust servo, and altitude rate controller uses PID control structure.
The airspeed threshold when ejection prepares section and launches section control switching is 0.9V0, wherein V0Reach for unmanned plane
Scheduled offtrack relocity；And this handoff procedure is irreversible.
The preset fixed rudder face of bullet that the ejection preparation section uses is preset negative rudder face.
The control strategy for the control altitude rate that the ejection section uses is realized by following control law:
The inner looping of posture angle controller is pitch rate control loop, using the control based on the robust theory of servomechanism
Framework processed, whereinFor damping term, integral termFor elevator master control item, wherein Q and QgRespectively pitching
Angular speed and pitch rate instruction,WithRespectively pitch rate damped coefficient and pitch rate error value product sub-control
Coefficient processed；
The external loop of posture angle controller is pitch loop, is controlled using the ratio of pitch angleWherein θ and θgRespectively pitching angle signal and pitch command,It is controlled for pitch angle error rate and is
Number；
Altitude rate controller uses the control structure of proportional+integral
WhereinWithGiven instruction respectively during altitude rate signal and catapult-assisted take-off,WithRespectively height
Change rate error rate control coefrficient and error intergal control coefrficient；
The total control structure of altitude control are as follows:
Wherein, θrefFor pitch angle feedforward value.
The utility model has the advantages that of the invention based on the small drone catapult-assisted take-off control system of the robust theory of servomechanism and side
Method, inner looping are controlled using pitch rate, and external loop is controlled using pitch angle, are controlled compared to classical inner looping pitch angle
The more pitch rate control loops of scheme, it is excessive can effectively to solve the pitch angle overshoot that catapult-assisted take-off process is likely to occur
Problem.
The present invention using the control of inner ring attitude angle plus the control of outer ring altitude rate series controller, compared to only controlling
The control program of unmanned plane pitch angle processed, can effectively control unmanned plane in catapult-assisted take-off process has stable climbing ability,
To guarantee flight safety.
The present invention prepares section by ejection and launches the two-part Discrete control of section, and ejection prepares section using preset rudder face
Control mode, ejection section launch preparation section and ejection section control switch using the control mode of control unmanned plane altitude rate
Judged according to the air speed of unmanned plane, and the control switching that ejection section prepares section to ejection must not be carried out.
To sum up, the present invention solves the problems, such as control access opportunity, and control safety is effectively ensured；Using based on robust servo
Pitch rate control, will take off controls rudder face and extends to whole usable ranges；Using the control based on the robust theory of servomechanism
The robustness of system can be enhanced in structure processed, improves the ability of system attack external interference.The present invention realizes small drone
The full discretionary security of catapult-assisted take-off controls, and guarantees that unmanned plane is liftoff safely.
Detailed description of the invention
Fig. 1 is ejection section catapult-assisted take-off controller architecture schematic diagram；
Fig. 2 is RSLQR controller architecture schematic diagram；
Fig. 3 is ejection section catapult-assisted take-off control law structural schematic diagram；
Fig. 4 be tranquil atmospheric environment take off elevator variation schematic diagram；
Fig. 5 is that tranquil atmospheric environment is taken off height change schematic diagram；
Fig. 6 be tranquil atmospheric environment take off altitude rate variation schematic diagram；
Fig. 7 be tranquil atmospheric environment take off pitch rate variation schematic diagram；
Fig. 8 be tranquil atmospheric environment take off pitch angle variation schematic diagram；
Fig. 9 be tranquil atmospheric environment take off indicator air speed variation schematic diagram；
Figure 10 is air turbulence wind speed schematic diagram；
Figure 11 be air turbulence environment take off elevator variation schematic diagram；
Figure 12 is that air turbulence environment takes off height change schematic diagram；
Figure 13 be air turbulence environment take off altitude rate variation schematic diagram；
Figure 14 be air turbulence environment take off pitch rate variation schematic diagram；
Figure 15 be air turbulence environment take off pitch angle variation schematic diagram；
Figure 16 be air turbulence environment take off indicator air speed variation schematic diagram；
Figure 17 be ejection force decaying 20% take off elevator variation schematic diagram；
Figure 18 is that ejection force decaying 20% is taken off height change schematic diagram；
Figure 19 be ejection force decaying 20% take off altitude rate variation schematic diagram；
Figure 20 be ejection force decaying 20% take off pitch rate variation schematic diagram；
Figure 21 be ejection force decaying 20% take off pitch angle variation schematic diagram；
Figure 22 be ejection force decaying 20% take off indicator air speed variation schematic diagram；
Figure 23 be buffeting 10% take off elevator variation schematic diagram；
Figure 24 is that buffeting 10% takes off height change schematic diagram；
Figure 25 be buffeting 10% take off altitude rate variation schematic diagram；
Figure 26 be buffeting 10% take off pitch rate variation schematic diagram；
Figure 27 be buffeting 10% take off pitch angle variation schematic diagram；
Figure 28 be buffeting 10% take off indicator air speed variation schematic diagram.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
As shown in Figure 1, a kind of small drone catapult-assisted take-off based on the robust theory of servomechanism of the invention controls system
System, the control system are the series controller of posture angle controller and altitude rate controller, wherein posture angle controller is adopted
With the control structure of robust servo, altitude rate controller uses PID control structure.
Wherein, posture angle controller is the series controller of pitch rate control loop and pitch loop, such as
Shown in Fig. 3, Q and θ are respectively pitch rate and pitching angle signal,WithRespectively pitch rate damping system
Number, pitch rate error intergal control coefrficient and pitch angle error rate control coefrficient；WithRespectively altitude rate
Instruction and altitude rate signal,WithRespectively altitude rate error rate control coefrficient and error intergal control
Coefficient.
Wherein, pitch rate inner looping uses the integration control structure based on the robust theory of servomechanism, with pitch angle
Input quantity of the rate variance as integrator.
Wherein, altitude rate controller uses the control structure of proportional-plus-integral, and controlled volume is that the height of unmanned plane becomes
Rate.
A kind of small drone catapult-assisted take-off control method based on the robust theory of servomechanism, including ejection prepare section and
Launch the two-part Discrete control of section, wherein ejection prepares the control strategy that section uses preset fixed rudder face, and ejection section is using control
The control strategy of altitude rate processed, ejection prepare section and are determined with the control switching for launching section by air speed；
Catapult-assisted take-off control controller used is the series controller of posture angle controller and altitude rate controller,
Wherein, posture angle controller uses the control structure of robust servo, and altitude rate controller uses PID control structure.
(1) in the present invention, posture angle controller uses the control structure of robust servo, the robust theory of servomechanism
It (RSLQR) is typical method for optimally controlling, it combines the excellent of robust analysis method and Quadratic Optimal Control (LQR)
Point is fused in the design process of control law by system to the requirement such as robust stability, time-frequency domain quality, can shorten control
The design cycle of rule.The principle of RSLQR is: according to the type of system input instruction, the integral of controlled volume deviation being introduced into control
Make rule forward loop, increase the type of system, make system have floating instruction trace ability (specific derivation process referring to
"Robust and Adaptive Control"by Kevin A.Wise.Eugene Lavretsky).For constant value input
Instruction trace, RSLQR control structure is as shown in Fig. 2, wherein u is control input, ycFor control output, CcTo control output matrix,
R is reference instruction, and E is control error, KIFor error intergal control coefrficient, KxFor STATE FEEDBACK CONTROL coefficient.RSLQR is in state
On the basis of feedback, an integrator is increased after order deviation signal, improves the type of system, export system
Steady-state error is zero, enhances the ability that system inhibits external disturbance.Compared with conventional PID controller control effect, use
The fast response time of RSLQR method system, regulating time is short, in the case where system has model uncertainty, the Shandong of system
Stick enhancing.
(2) the catapult-assisted take-off control law based on the robust theory of servomechanism is: posture angle controller+altitude rate control
The series controller of device.The inner looping of posture angle controller is pitch rate control loop, using based on robust SERVO CONTROL
Theoretical control framework, whereinFor damping term, integral termFor elevator master control item, wherein Q and QgPoint
Not Wei pitch rate and pitch rate instruction,WithRespectively pitch rate damped coefficient and pitch rate miss
Poor integral control coefficient；
The external loop of posture angle controller is pitch loop, is controlled using the ratio of pitch angleWherein θ and θgRespectively pitching angle signal and pitch command,It is controlled for pitch angle error rate and is
Number.
Altitude rate controller uses the control structure of proportional+integral
WhereinWithGiven instruction respectively during altitude rate signal and catapult-assisted take-off,WithRespectively height
Change rate error rate control coefrficient and error intergal control coefrficient；θrefFor pitch angle feedforward value, to improve rapidity；
The total control structure of altitude control are as follows:
(3) catapult-assisted take-off process is divided into ejection and prepares section and launch two sections of section controls: ejection prepares section using fixed preset
The control mode (usual preset negative rudder face) of rudder face, prevents the speed for failing to reach threshold speed after leaving the right or normal track from unmanned plane being caused to be in
No control state and there is the case where fiercely bowing.Section is launched to use described in above-mentioned (2) point based on the robust theory of servomechanism
Catapult-assisted take-off control law, the altitude rate for controlling unmanned plane keeps unmanned plane liftoff safely.The ejection of flight safety index request
Device can ensure that unmanned plane reaches scheduled offtrack relocity V0.In order to guarantee to be in controllable state simultaneously after unmanned plane leaves the right or normal track
Preventing the access ahead of time due to control law causes integral to be saturated, and selectes ejection and prepares section and launch the speed threshold of section control laws transformation
Value is 0.9V0, i.e., when the air speed of unmanned plane meets V >=0.9V0When, it need to carry out cutting from ejection preparation section to the control law of ejection section
It changes and this process is irreversible.
(4) mainly there is following two advantage using the angular speed control based on the robust theory of servomechanism:
Control based on angular speed, faster, control effect is more steady for response.In time domain scale, Q is equivalent to the micro- of θ
PointIn frequency domain, 90 ° more advanced than the phase of pitching angle theta of the phase of Q.Control based on angular speed
System is ahead of the control of pitch angle, and angular speed control, which can apply rudder face when variation tendency occurs in pitch angle, to be manipulated,
The response of controller is faster.Angular speed controls the stationarity that can also improve unmanned plane pitching angular response, reduces the super of pitch angle
It adjusts, prevents unmanned plane from coming back or bowing too quickly.
Control based on angular speed, inner ring angular speed integral term can inherit the preset rudder face that ejection prepares section, guarantee control
System is continuous.Furthermore this angular speed control program is full powers limit control, and elevator goes out rudder and can reach maximum and can enhance control with rudder face
The tolerance that system rule influences unmanned plane on pitching moment uncertainty, improves the robustness of controller.Angular speed control
Scheme uses the integration control structure of RSLQR, and integrator has inhibiting effect to the noise of angular speed, and it is outer to improve unmanned plane resistance
The ability of boundary's disturbance.
The present invention will be further described combined with specific embodiments below.
Embodiment
Based on XX unmanned plane, following simulating, verifying is carried out:
Ejection condition: 10 ° of orbit inclination angle, 4 ° of unmanned plane established angle, offtrack relocity 23m/s, direction of ejection is positive north orientation.
Ejection prepares section: -9 ° of the preset rudder face of elevator.
Ejection section: Altitude Rate Command isPitch angle reference value is θref=10 °.
The threshold speed of control laws transformation: indicator air speed 20m/s.
A: tranquil atmospheric environment, height above sea level H=0m, quality m=23.5kg；
B: atmospheric wind environment, height above sea level H=0m, quality m=23.5kg；
C: ejection force decaying 20%, height above sea level H=0m, quality m=23.5kg；
D: buffeting 10%, height above sea level H=0m, quality m=23.5kg；
A calmness atmospheric environment, height above sea level H=0, quality m=23.5kg
Under tranquil atmospheric environment, unmanned plane prepares section by ejection when 0.753s and enters ejection section, leaves the right or normal track in 0.873s.
As shown in Fig. 4 to Fig. 9, unmanned plane has completed control laws transformation before leaving the right or normal track, and avoids after leaving the right or normal track in without control shape
State.Unmanned plane leaves the right or normal track moment, altitude rate 5m/s, and the angle of attack is 4 °, and hereafter under control law effect, the height of unmanned plane becomes
Rate is adjusted to 2.5m/s, this stage unmanned plane is in climb mode always, and the speed of unmanned plane is always maintained at safety sky
Speed.From the point of view of the variation of pitch angle and pitch rate, pitch angle adjustment does not occur apparent overshoot, and acutely becoming does not occur in the angle of attack
Change, pitch angle adjusts rapidly the safety that ensure that take-off process to safe pitch angle after unmanned plane leaves the right or normal track.
B atmospheric wind environment, height above sea level H=0, quality m=23.5kg
In Nonlinear Simulation environment, turbulent wind model joined, comparing the simulation analysis under tranquil atmospheric environment, this rises
Fly the wind loading rating of control program.Turbulent Model uses MIL-8785C standard turbulence modeling, the positive north orientation of wind direction, away from ground
The wind speed intensity 6m of 6m height, turbulence intensity moderate turbulent flow, as shown in Figure 10.
As shown in Figure 11 to Figure 16, the simulation result in atmospheric wind shows control program of taking off according to this, unmanned function
It enough completes safe ejection to take off, unmanned plane altitude rate is positive always after leaving the right or normal track, and stablizes unmanned plane height during climbing and becomes
Rate amplitude is 0.5m/s, and unmanned plane is in climb mode always；Due to the influence of turbulent flow, unmanned plane pitch rate occurs
The oscillation of 1.5 °/s, this oscillation for also causing elevator to occur 1 °, pitching angular amplitude are 1 °.Entire catapult-assisted take-off process, nothing
Man-machine indicator air speed is always ensured that in safe flight speed.Simulation result shows that this control program can guarantee unmanned equipment
There is stronger wind loading rating.
C ejection force decaying 20%, height above sea level H=0m, quality m=23.5kg
As shown in Figure 17 to Figure 22, the decaying of ejection force only has an impact to the offtrack relocity of unmanned plane, after leaving the right or normal track nobody
The rapid pressure head of machine carries out speedup.Entire catapult-assisted take-off process, it is smaller that unmanned plane pitch angle changes overshoot, and guarantees safer
Climbing speed, the climb rate, unmanned plane persistently increase, and complete to take off.
D buffeting 10%, height above sea level H=0m, quality m=23.5kg
As shown in Figure 23 to Figure 28, meanwhile, the trim rudder face and trim that buffeting climbs only for unmanned plane are bowed
The elevation angle has an impact, and entire take-off process is similar with the unbated situation of lift.Simulation result shows that this control program can guarantee
The stronger robustness of unmanned plane.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of small drone catapult-assisted take-off control system based on the robust theory of servomechanism, it is characterised in that: the control
System is the series controller of posture angle controller and altitude rate controller, wherein posture angle controller is watched using robust
The control structure of clothes, altitude rate controller use PID control structure.
2. the small drone catapult-assisted take-off control system according to claim 1 based on the robust theory of servomechanism,
Be characterized in that: the posture angle controller is the series controller of pitch rate control loop and pitch loop.
3. the small drone catapult-assisted take-off control system according to claim 2 based on the robust theory of servomechanism,
Be characterized in that: the pitch rate inner looping uses the integration control structure based on the robust theory of servomechanism, with pitch angle
Input quantity of the rate variance as integrator.
4. the small drone catapult-assisted take-off control system according to claim 1 based on the robust theory of servomechanism,
Be characterized in that: the altitude rate controller uses the control structure of proportional-plus-integral, and controlled volume is that the height of unmanned plane becomes
Rate.
5. a kind of small drone catapult-assisted take-off control method based on the robust theory of servomechanism, it is characterised in that: including bullet
Penetrate the two-part Discrete control for preparing section and launching section, wherein ejection prepares the control strategy that section uses preset fixed rudder face, bullet
Section is penetrated using the control strategy of control altitude rate, the control of ejection preparation section and ejection section switches to be sentenced by air speed
It is fixed；
Catapult-assisted take-off control controller used is the series controller of posture angle controller and altitude rate controller,
In, posture angle controller uses the control structure of robust servo, and altitude rate controller uses PID control structure.
6. the small drone catapult-assisted take-off control method according to claim 5 based on the robust theory of servomechanism,
Be characterized in that: the airspeed threshold when ejection prepares section and launches section control switching is 0.9V0, wherein V0Reach for unmanned plane
Scheduled offtrack relocity；And this handoff procedure is irreversible.
7. the small drone catapult-assisted take-off control method according to claim 5 based on the robust theory of servomechanism,
Be characterized in that: the preset fixed rudder face of bullet that the ejection preparation section uses is preset negative rudder face.
8. the small drone catapult-assisted take-off control method according to claim 5 based on the robust theory of servomechanism,
Be characterized in that: the control strategy for the control altitude rate that the ejection section uses is realized by following control law:
The inner looping of posture angle controller is pitch rate control loop, using the control cage based on the robust theory of servomechanism
Structure, whereinFor damping term, integral termFor elevator master control item, wherein Q and QgRespectively pitch angle speed
Rate and pitch rate instruction,WithRespectively pitch rate damped coefficient and pitch rate error intergal control system
Number；
The external loop of posture angle controller is pitch loop, is controlled using the ratio of pitch angleIts
Middle θ and θgRespectively pitching angle signal and pitch command,For pitch angle error rate control coefrficient；
Altitude rate controller uses the control structure of proportional+integralIts
InWithGiven instruction respectively during altitude rate signal and catapult-assisted take-off,WithRespectively height becomes
Rate error rate control coefrficient and error intergal control coefrficient；
The total control structure of altitude control are as follows:
Wherein, θrefFor pitch angle feedforward value.
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Cited By (6)
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| CN111309041A (en) * | 2020-03-05 | 2020-06-19 | 成都飞机工业（集团）有限责任公司 | Catapult takeoff pull-up control method |
| CN111399527A (en) * | 2020-03-27 | 2020-07-10 | 浙江华奕航空科技有限公司 | Unmanned helicopter attitude robust control method based on extended observer |
| CN112486203A (en) * | 2020-11-18 | 2021-03-12 | 南京航空航天大学 | Flying wing unmanned aerial vehicle Hubbaster maneuvering flight control method |
| CN112486193A (en) * | 2020-11-19 | 2021-03-12 | 南京航空航天大学 | Three-axis full-authority control method of flying-wing unmanned aerial vehicle based on self-adaptive augmentation control theory |
| CN111538350B (en) * | 2020-05-07 | 2023-06-23 | 烟台南山学院 | Method for realizing high-full-automatic flight of unmanned aerial vehicle by adopting three-section soft switching |
| WO2023240862A1 (en) * | 2022-06-13 | 2023-12-21 | 成都飞机工业（集团）有限责任公司 | Rocket-boosted launch and takeoff control method for unmanned aerial vehicle having flying-wing layout |
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| CN111399527A (en) * | 2020-03-27 | 2020-07-10 | 浙江华奕航空科技有限公司 | Unmanned helicopter attitude robust control method based on extended observer |
| CN111399527B (en) * | 2020-03-27 | 2023-08-04 | 浙江华奕航空科技有限公司 | Unmanned helicopter attitude robust control method based on extended observer |
| CN111538350B (en) * | 2020-05-07 | 2023-06-23 | 烟台南山学院 | Method for realizing high-full-automatic flight of unmanned aerial vehicle by adopting three-section soft switching |
| CN112486203A (en) * | 2020-11-18 | 2021-03-12 | 南京航空航天大学 | Flying wing unmanned aerial vehicle Hubbaster maneuvering flight control method |
| CN112486203B (en) * | 2020-11-18 | 2022-04-08 | 南京航空航天大学 | Flying wing unmanned aerial vehicle Hubbaster maneuvering flight control method |
| CN112486193A (en) * | 2020-11-19 | 2021-03-12 | 南京航空航天大学 | Three-axis full-authority control method of flying-wing unmanned aerial vehicle based on self-adaptive augmentation control theory |
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| WO2023240862A1 (en) * | 2022-06-13 | 2023-12-21 | 成都飞机工业（集团）有限责任公司 | Rocket-boosted launch and takeoff control method for unmanned aerial vehicle having flying-wing layout |
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