无人机在实际飞行中易受到扰动与系统未建模动态等不确定性因素的影响．为此，文中提出了一种新的鲁棒飞行控制律设计方法．该方法以主－辅控制器为基本架构，主控制器采用鲁棒伺服线性二次型调节( LQR) 法构造，以提供基本指令跟踪控制输入;以加入主控制器后的理想闭环系统为参考模型，基于鲁棒模型参考自适应算法设计辅控制器，以抑制扰动和未建模动态对飞行控制系统的影响．理论分析表明，该控制律能够保证闭环飞行控制系统在存在有界扰动与未建模动态情况下稳定且跟踪误差有界．非线性对比仿真验证了控制系统对各种形式扰动的抑制作用，说明了该控制系统的有效性与鲁棒性．

Flying unmanned aerial vehicles can be easily affected by such uncertain factors as disturbance andunmodeled dynamics.In order to solve this problem,a new robust flight control law design method is proposed.Based on the framework of a baseline controller and an augmented compensator,the baseline controller uses arobust servomechanism LQR control method so as to provide the basic command to track the control input.Then,by using the ideal closed loop system of the baseline controller as a reference model,the augmented compensator onthe basis of robust model- reference adaptive control algorithm is constructed,so that the adverse effect caused bybounded disturbance and unmodeled dynamics is reduced.Theoretical analysis demonstrates that the proposedcontrol law is able to ensure the closed- loop system of being stable and the output tracking error of being bounded inthe presence of bounded disturbance and unmodeled dynamics.The comparative nonlinear simulation resultsdemonstrate that the proposed control system is able to reject various kinds of disturbances,indicating that the pro-posed system is effective and robust.