Abstract
This paper describes the design and implementation of a novel three-axis attitude control autopilot scheme for tube-launched, air-deployed UAVs. In early flight tests, various factors, such as model uncertainties during launch, aerodynamic uncertainties, geometric parameter changes during deployment, and significant uncertainties in booster rocket installation, exceeded the control capabilities of the attitude autopilot, causing flight instability. In order to address these issues, a numerical simulation model of the full launch process considering deviations was established based on early flight tests. A cascade attitude controller was then designed using an extended state observer (ESO), and the boundedness of control errors under unknown bounded disturbances was theoretically proven, providing requirements for the parameter tuning of the cascade controller. Comparative experiments and a second flight test both demonstrate that the ESO-based cascade attitude controller exhibits strong feedforward disturbance compensation under high-uncertainty conditions, effectively achieving stable control within the flight envelope.
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