本书作者所在研究团队探索了一种三涵道旋翼垂直起降固定无人机的构型，采用涵道结构形式提高垂直飞行时旋翼的效率，同时为较小涵道阻力，将涵道与机翼气动融合，尾部采用可左右倾转的涵道风扇来进行操纵控制。本书主要针对复合式构型的无人机开展飞行动力学建模与飞行控制方法研究。本书的建模及控制对象主要针对具有结构创新形式的复合式无人机，尤其以三涵道旋翼布局的复合式无人机开展的飞行动力学建模与控制方法研究，所研究的对象具有一定的创新性，将涵道的较高垂直飞行效率与固定翼相融合。

Chapter 1 Introduction
1.1 Background
1.2 Challenge in flight control
1.2.1 Technical characteristic
1.2.2 Difficulty and challenge in flight control
1.3 Recent research
1.3.1 Dynamic modeling
1.3.2 Flight strategy and control
1.4 Content and structure arrangement
Chapter 2 Theoretical Modeling of Three-duct Compound UAV
2.1 Introduction
2.2 Overview of three-duct compound UAV
2.3 Equation building of motion state
2.3.1 Coordinate system
2.3.2 Assumption
2.3.3 Dynamics equation
2.3.4 Kinematical equation
2.3.5 Mass change equation
2.4 Aerodynamic model of ducted rotor
2.4.1 Aerodynamic of ducted rotor in hover
2.4.2 Aerodynamic of ducted rotor in low speed flight
2.4.3 Verification of calculation result
2.5 Tail auxiliary ducted rotor
2.6 Propeller
2.7 Fuselage
2.8 Summary
Chapter 3 Dynamic Modeling with System Identification
3.1 Characteristic and theoretical basis
3.1.1 Cross-correlation function
3.1.2 Autocorrelation function
3.2 Flight test platform
3.3 Identification data processing
3.3.1 Data outlier removal and correction
3.3.2 Data filtering
3.3.3 Data consistency analysis
3.3.4 Coherence analysis
3.4 Identification of flight dynamics model
3.4.1 Multiple input multiple output identification
3.4.2 Multiple input single output identification
3.4.3 Single input single output identification
3.5 Summary
Chapter 4 Control Strategy in Transition Mode
4.1 Control strategy for transition
4.1.1 Mathematical model
4.1.2 Optimal control
4.2 Summary
Chapter 5 Flight control of three-duct compound UAV
5.1 H robust control
5.1.1 Control theory basis
5.1.2 Matematical model considering uncertainty
5.1.3 Controller design based on dynamic inverse and loop shaping
5.1.4 Simulation
5.2 Fuzzy PID control
5.2.1 Fuzzy control
5.2.2 Controller design based on improved genetic optimization algorithm
5.2.3 Simulation
5.3 Fixed-wing mode flight control
5.3.1 Path-tracking control
5.3.2 Attitude control
5.4 Flight test
5.4.1 Fixed-point hover test
5.4.2 Forward flight test
5.5 Summary
References