Environmental Adaptive Flight Control for Autonomous Aero-robot Base on Order and Hierarchy Formation

研制了一种自主航空机器人的精确导航系统，并证明了该导航系统可以检测到环境的变化。提出了一种基于层次结构的环境自适应鲁棒飞行控制系统设计方法。通过数值仿真和自主航空机器人的飞行实验，验证了该方法的有效性。

We developed a precise navigation system for an autonomous aero-robot, and it is proved that environmental changes can be detected by use of the navigation system. We also proposed a method to design environmental adaptive robust flight control system based on the formation of hierarchy. The effectiveness of the proposed method was confirmed through not only numerical simulations but also flight experiments using the autonomous aero-robot.