Aiming at the conversion process of thrust vectoring vertical/short takeoff and landing (V/STOL) aircraft with a symmetrical structure in the transition stage of takeoff and landing, there is a problem with the coupling and redundancy of the control quantities. To solve this problem, a corresponding inner loop stabilization controller and control distribution strategy are designed. In this paper, a dynamic system model and a dynamic model are established. Based on the outer loop adopting the conventional nonlinear dynamic inverse control, an L1 adaptive controller is designed based on the model as the inner loop stabilization control to compensate the mismatch and uncertainty in the system. The key feature of the L1 adaptive control architecture is ensuring robustness in the presence of fast adaptation, so as to achieve a unified performance boundary in transient and steady-state operations, thus eliminating the need for adaptive rate gain scheduling. The control performance and robustness of the controller are verified by inner loop simulation and the shooting Monte Carlo approach. The simulation results show that the controller can still track the reference input well and has good robustness when there is a large parameter perturbation.

In order to meet the constraints of velocity and acceleration of displacement and attitude motion of an unmanned helicopter during an automatic carrier landing mission, an asymmetric tracking differentiator, which could set the speed and acceleration limits in two directions of tracked signal motion respectively, was derived based on the tracking differentiator in the active disturbance rejection control method. Based on the proposed asymmetric tracking differentiator, a fal-extended state observer based on the fal function was added to construct the attitude and angular velocity controller which is programmable during the transition process of unmanned helicopters. The mathematical simulation and result analysis show that the newly proposed attitude estimation algorithm effectively compensates for the deficiencies of the existing methods, improves the anti-jamming capability and the accuracy of attitude estimation in the maneuvering process, achieving the expected design purposes.

For some flight missions, such as autonomous landing on mobile platforms, the demands on indicators such as target-tracking accuracy and so on are relatively high. To achieve this, a guidance system with excellent precision is necessary. An asymmetric tracking differentiator based on a tracking differentiator is proposed to establish the guidance system. On the basis of the proposed asymmetric tracking differentiator, an altitudinal and horizontal helicopter guidance system structure is designed. In this paper, a guidance law is designed in order to meet the accuracy and precision requirements in the autonomous landing and transition process. Apart from that, a plane-motion-guidance law is also designed to realize static and dynamic point tracking, linear route tracking and circular route tracking to improve the trajectory smoothness and accuracy. Finally, simulations of the autonomous landing process on moving platforms, including three stages, namely approaching, tracking and landing, are completed. The application effects and precision of the autonomous landing guidance algorithm under different wave heights and period conditions are analyzed through the obtained simulation curves.