本論文的目的在於設計僅以升降舵補助翼控制之有效的非線性控制器，及可以追蹤指定軌跡之導引率。
    其非線性控制器採用非線性動態反算，此控制器將縱橫向運動解耦合，並能夠有效的控制飛機之滾轉率及俯仰率，且依據理想動力來設計其參數。導引律則採用三維自適應最佳導引律，該導引律是由線性二次調節器(LQR控制器)推導出，其可追蹤指定之飛行路徑。
    最後成功以模擬演示該控制律以及導引律能夠將無尾翼飛機追蹤其指定之軌跡。

The purpose of this thesis is to design an effective nonlinear flight control system that only uses elevon to control the flying-wing UAV and to design the guidance law that can track the specified trajectory. The nonlinear dynamic inversion technique is adopted for this control system design. It can effectively control the roll rate and pitch rate of the aircraft and meet the design requirement of the desired dynamics generated to satisfy certain flying qualities. The thesis also developed an infinite-horizon LQR based three-dimensional adaptive optimal guidance law to track the designated flight path. Finally, computer simulations were successfully demonstrated to show that the proposed control law and guidance law can control the flying-wing UAV track the designated trajectory effectively.

1 Introduction 1
1.1 Research Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Historical and Literature Review . . . . . . . . . . . . . . . . . . . . . . . 2
1.2.1 A Brief History and Introduction of Flying Wing . . . . . . . . . . 2
1.2.2 Nonlinear Dynamic Inversion and Control Strategies . . . . . . . . 3
1.3 Overview of the Research . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Dynamics of the FlyingWing 5
2.1 Kinetics of the Flying Wing . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Kinematics of the Flying Wing . . . . . . . . . . . . . . . . . . . . . . . . 6
3 Nonlinear Dynamic Inversion 9
3.1 Nonlinear Dynamic Inversion Control Law . . . . . . . . . . . . . . . . . . 9
3.2 NDI Controller Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.1 Control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.2 Affine Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.3 Fast-loop NDI controller . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 Desired Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3.1 Desired Dynamic of the Rolling Rate . . . . . . . . . . . . . . . . 13
3.3.2 Desired Dynamic of the Pitching Rate . . . . . . . . . . . . . . . . 14
3.4 Simulation Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4 Guidance Law Design 20
4.1 Three-Dimensional Adaptive Optimal Guidance Law . . . . . . . . . . . . 20
4.2 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5 Conclusion and Discussion 29
References 30
Appendix A The FlyingWing Model 32

List of Figures
1.1 The flying wing for simulation model . . . . . . . . . . . . . . . . . . . . 1
3.1 Control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Structure of the desired dynamics of rolling rate . . . . . . . . . . . . . . . 14
3.3 Structure of the desired dynamics of pitching rate . . . . . . . . . . . . . . 14
3.4 The simulation system with controller . . . . . . . . . . . . . . . . . . . . 15
3.5 The control block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.6 The PI controller about autothrottle . . . . . . . . . . . . . . . . . . . . . . 16
3.7 Command with the pitchling rate . . . . . . . . . . . . . . . . . . . . . . . 17
3.8 Command with the rolling rate . . . . . . . . . . . . . . . . . . . . . . . . 19
4.1 The definition of two distances . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2 The simulation system with guidance . . . . . . . . . . . . . . . . . . . . . 23
4.3 Tracking climbing and declining trajectory . . . . . . . . . . . . . . . . . . 25
4.4 Tracking the circle with a radius of 50 meters . . . . . . . . . . . . . . . . 28

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