本文是在无人机控制技术领域的一个基础性的探索研究。由于本人是首次接触飞行控制这一崭新的领域,且本系在该领域前期的科研积累很少,虽在导师的指导下克服了重重困难,取得了一定的进展,但就其深度而言,还尚显肤浅,在某些问题的研究上还未深入到飞控的本质。 This article is a basic exploration and research in the field of UAV control technology. Since I was the first to contact with the brand new field of flight control and my department has little previous research in this field, I have made some progress despite overcoming the difficulties under the guidance of the mentor. However, in terms of its depth, Still apparent superficial, in some aspects of the study has not yet delved into the essence of flight control.