更长续航时间和更低能耗是无人机技术持续追逐的目标，而信天翁等鸟类能够利用海面风梯度进行动态滑翔来实现无动力持久飞行，因而动态滑翔为增强飞行器续航能力提供了可能性，也是目前热门的研究方向。本项目针对风梯度动态滑翔的动力学与控制问题，以动力学的平衡点入手，分析平衡态的存在性，建立平衡态的稳定性理论，并求解参数变化影响下的分岔特性，进而阐明动态滑翔最优控制与平衡态的关系，并以此设计动态滑翔的鲁棒跟踪控制器。项目的研究成果可为实现自主动态滑翔提供理论支撑，为动态滑翔飞行器总体设计提供准则与参考，为无人机利用风能持久飞行提供一种新的技术。

Longer range and lower energy consumption are the consistent goals of UAV technology, and birds such as albatross can utilize the wind gradient for dynamic soaring to achieve unpowered long flight. Thus dynamic soaring, which is currently a hot research topic, provides the possibility of enhancing the endurance of the aircraft. In order to design robust tracking controller for dynamic soaring, this project addresses the problem of flight dynamics and control in wind gradient, analyzes the existence, stability and bifurcation of the equilibria by starting with the kinetic equilibrium points, and discusses the relationship between optimal control and equilibria of dynamic soaring. The research results of the project can provide theoretical support for realizing autonomous dynamic soaring, guidelines and references for the overall design of dynamic soaring aircraft, and a new technology for unmanned aerial vehicles using wind unpowered flight.