尾坐式飞机在起降阶段飞行速度低、迎风面积大，抗风能力十分脆弱，并且起落架触地时地面作用力对飞机稳定性有显著影响。为实现强侧风、突变风及复杂环境下尾坐式飞机可靠起降，本项目研究包含风、地面影响的尾坐式飞机高置信度动力学模型，建立尾坐式飞机执行器受限不稳定系统鲁棒控制方法。主要研究内容及创新点包括：针对来流/滑流/机体耦合流场，提出一种基于特征参数的非线性非定常气动力表征方法；针对地面作用力对飞机稳定性影响的规律，提出基于翻转能量的尾坐式飞机稳定性裕度；针对机载传感器误差及频带特性，提出一种固定时间收敛的非线性滑模扰动观测器，将扰动观测结果与动力学模型预测融合，获得准确度高、相位滞后少的角加速度估计，基于此设计复合动态逆控制器以提高抗干扰能力。本项目明确考虑尾坐式飞机执行器幅值及动态限制，设计满足多性能指标的鲁棒抗风控制器，并通过地面模拟和飞行试验验证控制方法，所研究控制方法具有很强的针对性。

In vertical take-off and landing flights, the wind cross-section of the tail-sitters is large. Its anti-disturbance ability is fragile. Stability of tail-sitters is influenced by the landing-gear/ground interaction forces seriously. To enhance the reliability of tail-sitters during take-off and landing in strong crosswind, turbulence mutation and complex environment, this project studies high fidelity dynamic model of tail-sitters including the influences of wind and ground. Control laws for the constrained unstable system of tail-sitters are researched. The main contents and innovations of this research are stated as follows: A characteristic model is developed for the nonlinear unsteady aerodynamics of the Flow field compounded by cross-wind and the slipstream of propellers. Taking the ground interaction forces into account, stability criteria based on the turn over energy is proposed for tail-sitters during touchdown. The error and bandwidth of sensors are considered sufficiently. And a fixed-time convergent nonlinear sliding mode observer is proposed for dynamic disturbance estimation. The angular accelerations, with high accurate and less phase lag, are composited by combining the disturbance estimation and prediction results of dynamic model. Compound dynamic inversion control law is designed based on these predicted angular accelerations to enhance the anti-disturbance ability of tail-sitters. In this project, both amplitude and bandwidth constaints of effectors are taken into account. Additionally, constrained robust wind resistance controller meets multi-object is designed. Finally, ground based tests and the flight experiments will be performed to verify these control methods. The proposed control method is pertinent to deal with this kind of problem.