基于反步控制方法的菱形翼无人机起飞滑跑控制

小型菱形翼无人机起飞滑跑面临着简陋跑道条件带来的干扰和自身非线性因素影响的问题，现有控制方法对无人机起飞滑跑的滚转控制重视不足。针对该问题，以某型菱形翼无人机的起飞滑跑试验为切入点，分析了该布局无人机起飞滑跑面临的问题和菱形翼布局的特点，设计了一种基于反步控制方法的菱形翼无人机地面起飞滑跑控制器。所提控制方法充分考虑了起飞条件带来的干扰及无人机本身非线性因素的影响，对无人机起飞滑跑的航向和滚转进行了有效控制。仿真和无人机起飞滑跑结果表明了所提控制方法的有效性。 

Takeoff taxiing control of joined-wing UAV based on backstepping method

Small joined-wing UAVs always face the disturbance caused by simple runway conditions and the influence of their own nonlinear factors. The existing control methods do not pay enough attention to the rolling control of the UAV during takeoff taxiing. In order to solve these problems, this paper analyzes the problems faced by the takeoff taxiing and the characteristics of joined-wing layout from the example of a certain type of joined-wing UAV taxiing test, and then designs a joined-wing UAV takeoff taxiing controller based on the backstepping control method. The control method takes full account of the interference caused by the takeoff conditions and the influence of UAV nonlinear factors, and effectively controls the yaw and roll of the UAV's takeoff taxiing. Simulation and UAV taxiing test results show that the proposed design method is effective.