Sideslip and inclination composite turning control technology for unmanned aerial vehicle

The invention relates to a sideslip and inclination composite turning control technology of an unmanned aerial vehicle. Lateral centroid turning control of the unmanned aerial vehicle is realized by compounding a sideslip turning mode and an inclination turning mode. According to the method, the size of the inclined attitude expected angle signal can be adjusted through the yaw channel control quantity, and on the contrary, the yaw channel attitude angle expected signal is adjusted through the inclined channel control quantity, so that the two channels are prevented from violently turning at the same time, and dynamic and reasonable distribution of turning energy is also realized. Meanwhile, dual-channel coupling dynamic estimation among acceleration, yaw angle rate and inclination angle rate is carried out on uncertainty of yaw and inclination channels through lateral position errors, speed errors and acceleration errors, so that dual-channel uncertainty dynamic coupling compensation is realized; therefore,