Optimal robust control method for transition flight mode of tilting quad-rotor unmanned aerial vehicle based on online approximator

The invention discloses an optimal robust control method for a transition flight mode of a tilting quad-rotor unmanned aerial vehicle based on an online approximator. By combining the characteristicsof a tilting quad-rotor unmanned aerial vehicle, a controller design is directly carried out on a nonlinear model of the unmanned aerial vehicle, nonlinear characteristics beneficial to the system arereserved, so that modeling errors introduced when the model is linearized are effectively avoided. Furthermore, an optimal robust performance index is constructed, and an optimal robust performance index is achieved by utilizing an optimal control method, so that relatively strong anti-interference capability and robust performance can be realized. Finally, a neural network serves as an approximate optimal robust performance index of the online approximator, optimal robust control input is obtained through a dynamic planning method, the calculated amount is reduced, and the method is suitablefor online operation. 本发明公