针对多旋翼倾转定翼无人机在过渡飞行过程中，存在着失速、甚至失控坠机等运动稳定性等问题，本项目拟通过空间算子代数方法与李雅普诺夫指数方法相结合，研究整个系统的动力学及运动稳定性，并在此基础上建立多模式间相互柔性转换的鲁棒控制方法。其中，面向运动稳定性分析及鲁棒控制器设计，拟采用模块化高效递推的空间算子代数方法建立系统的动力学模型。同时，为了提高稳定性分析的可靠性，通过动力学模型和飞行过程时间序列的李雅普诺夫指数方法对比分析，确定整个系统动力学参数与其运动稳定性之间的量化关系。其中，采用多分辨小波神经网络方法计算时间序列的李雅普诺夫指数，拟补了大气扰动等不确定因素造成的理论建模分析的不准确性。本项目的实施不仅可以为倾转定翼无人机等复杂非线性系统的运动稳定性提供一种简单可靠的分析工具，而且将推动多学科耦合动力学建模理论向机电、航空、航天等多学科领域发展。

For the stability problem of muti-tilt wing unmanned aircraft vehicle’s (MTW-UAV) stall or out of control during transition flight, the method of combination spatial operator algebra and Lyapunov exponent is applied to the dynamics modeling and stability analysis, and the robust control law is obtained under the base of the analysis results of dynamics and stability. Especially, for facing to the analysis of stability and the design of robust control, the dynamics model is established by the method of spatial operator algebra, which is efficiency, modularized and recursive. At the same time, in order to improve the reliability of stability analysis, the quantitative relationship between the kinetic parameters and stability is concluded by Lyapunov exponent which is calculated by dynamics model and time series. For the effection of atmospheric disturbances and other uncertain factors, the time series’ Lyapunov exponent is calculated by multi-resolution wavelet neural network. That is a helpful aided analysis for the theoretical analysis. Moreover, this study provides a set of simple and effective analysis tools for TW-UAV. Also, the nonlinear analysis method proposed in this study can be employed to many multi-disciplinary fields such as mechanical, electrical, aerospace science, and so on.