Newton-Euler Equations Research Articles

Three-dimensional dynamic modeling and simulation of a multi-cable winding hoister system considering bidirectional coupling between cage and flexible guides

A comprehensive three-dimensional dynamic model of a multi-cable double-drum winding hoister with flexible guides is presented, as the existing models cannot deal with the three-dimensional eccentricity of the cage and out-of-plane excitation generated by rotational drums. The entire system consists of three subsystems: cable subsystem, cage subsystem, and guide subsystem, respectively. Displacement and force boundary conditions are employed to couple those subsystems, and the interaction between cage and guides is considered as bidirectional coupling. The dynamic models of the three subsystems are established by Hamilton principle and Newton-Euler equation in a three-dimensional space independently. The dynamic model is discretized and solved by the Galerkin method and Runge–Kutta method. The three-dimensional displacement excitations and three-dimensional eccentricity can be handled in this dynamic model. The differences between two-dimensional dynamic model and three-dimensional dynamic model are discussed and the mechanism of entire system vibration are also analyzed by numerical simulation with typical unbalance factors, the cage eccentricity. The results show that the proposed three-dimensional dynamic model is more accurate in some realistic cases, existing out-of-plane excitation or three-dimensional eccentricity of the cage.

Influence of Nonlinear Dynamics Behavior of the Roller Follower on the Contact Stress of Polydyne Cam Profile

The effect of the cam profile on the nonlinear dynamics phenomenon of the follower is studied at three involutes’ profiles for the cam. The value of the Lyapunov exponent parameter is calculated at different internal distances of the follower guide from inside and at different cam speeds. The effect of the Lyapunov exponent value on the contact stress is studied based on the clearance between the follower and its guides. The contact between the cam and the square grooving key and between the cam and the follower has been taken into consideration at different locations. The finite element method is used to calculate the contact stress numerically using the SolidWorks program. The nonlinear response of the follower is calculated analytically using the Newton–Euler equations of rigid body dynamics of translation and rotation motions while the follower position is tracked experimentally using a high-speed 3-D camera device. The contact stress is checked and verified using photo-elastic apparatus. The data of the contact stress against time are used in the Wolf algorithm code to extract the value of the largest Lyapunov exponent. A phase-plane diagram is drawn at different cam speeds and different internal distances of the follower guide from the inside. The periodic and non-periodic motions of the contact stress are examined at different contact locations for the follower with the cam profile. The higher the value of contact stress, the higher the value of the largest Lyapunov exponent parameter and the higher the value of bending deflection.

Attitude Control Design and Simulation Analysis of Quadrotor Based on Active Disturbance Rejection Control

In this paper, the attitude control problem based on active disturbance rejection control (ADRC) is studied for nonlinear underactuated quadrotor aircraft with parametric uncertainties and modeling disturbances. The simplified dynamics model of the quadrotor is established by using Newton-Euler equation, and the ADRC is applied to control the attitude control of the quadrotor. Finally, through numerical simulations, the performance of the ADRC and traditional PID algorithm are compared, the results show that the attitude control algorithm based on ADRC has better performance, and has excellent ability to resist disturbance.

Useful zero friction simulations for assessing MBS codes Pascal's formula giving wheelsets frequency for zero wheel-rail friction

Present study provides a simple analytical formula, the “Klingel-like formula” or “Pascal's Formula” that can be used as a reference to test some results of existing railway codes and specifically those using rigid contact. It develops properly the 3D Newton-Euler equations governing the 6 degrees of freedom (DoF) of unsuspended loaded wheelsets in case of zero wheel-rail friction and constant conicity. Thus, by solving numerically these equations, we got pendulum like harmonic oscillations of which the calculated angular frequency is used for assessing the accuracy of the proposed formula so that it can in turn be used as a fast practical target for testing multi-body system (MBS) railway codes. Due to the harmonic property of these pendulum-like oscillations, the square ω2 of their angular frequency can be made in the form of a ratio K/M where K depends on the wheelset geometry and load and M on its inertia. Information on K and M are useful to understand wheelsets behavior. The analytical formula is derived from the first order writing of full trigonometric Newton-Euler equations by setting zero elastic wheel-rail penetration and by assuming small displacements. Full trigonometric equations are numerically solved to assess that the formula provides ω2 inside a 1% accuracy for usual wheelsets dimensions. By decreasing the conicity down to 1 × 10−4 rad, the relative formula accuracy is under 3 × 10−5. In order to test the formula reliability for rigid contact formulations, the stiffness of elastic contacts can be increased up to practical rigidity (Hertz stiffness × 1000).

Quadrotor Attitude and Altitude Tracking Control Using Finite Discrete-Time Linear Quadratic Tracking Controller

In this paper, an optimal finite discrete-time linear quadratic tracking (LQT) control method is proposed to control the altitude and attitude of a quadrotor. First, the dynamic model of the quadrotor is derived using Newton-Euler equations. Next, non-linear equations of the quadrotor are written in the state space form and linearized around an equilibrium point. Then, continuous-time linear state-space equations are converted into discrete-time equations considering a specific sampling time. Moreover, the controller design process is completed by determining the performance index and the weighting matrices, and the optimal control input is acquired for the closed-loop system. In the end, the simulation results are shown to demonstrate the robustness of the controller against parameter uncertainties and show its performance in attenuating the external disturbance effect.

Modelado de un AGV híbrido triciclo-diferencial

En el ámbito industrial se utilizan con frecuencia Vehículos de Guiado Automático (AGV) para el transporte de mercancía puntual, normalmente sustituyendo a los medios de transporte manuales o a las cintas transportadoras, para así reducir costes operativos y errores humanos. Para aumentar el rendimiento de estos sistemas industriales y que puedan realizar funcionalidades más avanzadas, es fundamental desarrollar modelos orientados al control que permitan probar nuevas estrategias y técnicas de control que los hagan más eficientes y seguros. Para ello, en este trabajo se desarrolla un modelo cinemático y dinámico orientado al control de un AGV. El principal objetivo del trabajo es conseguir una representación matemática de la compleja dinámica del AGV Easybot, un vehículo híbrido triciclo-diferencial, que permita estudiar los efectos de carga remolcada y la interacción rueda-suelo. Para ello se ha desarrollado el modelo cinemático de la parte diferencial y del triciclo, y se han combinado ambos entre sí y con el desarrollo de la dinámica del vehículo. Se ha descompuesto el AGV en sus distintos módulos y se han aplicado las ecuaciones de Newton-Euler para obtener las ecuaciones de su comportamiento dinámico. El modelo se ha validado en simulación para diferentes trayectorias, variando la carga y la velocidad.

Design and Realization of Labriform Mode Swimming Robot Based on Concave Pectoral Fins

A Swimming performance underlies the biomechanical properties and functional morphology of fish fins. In this article, design and realization of a swimming robot propelled by a pair of pectoral fin is implemented. The suggested shape of the pectoral fins is concave; this type of fin provides a simple approach in generating effective hydrodynamic thrust force through only one degree of freedom (1-DOF). Next, we show the effect of varying fin oscillation speed in two phases, the first phase is the power stroke one, where the fins start to push toward the backward of the body, and the recovery phase, where the fins return toward the frontal part of the body. The detailed steps of the robot design are presented and the thrust force exerted by pectoral fins has been evaluated. The robot is consisting of a rigid-body with an elliptical cross-sectional area, which helps in minimizing the water resistance during the thrusting process. Since pectoral fins provide a vital role in the propulsion mechanism of Labridae fish, the proposed model is driven by a pair of concave-shaped fin to simulate labriform mode swimming mechanism. For motion control, we have suggested to use PID controller in order to improve the system performance. The kinematic and dynamic model of a swimming robot has been derived based on Newton-Euler equations, while an evaluation of the total hydrodynamic forces that are exerted on the swimming robot's body is studied via the computational fluid dynamics (CFD) method. The proposed design has been validated theoretically via Solidworks{\textregistered} platform and examined experimentally. The results of the simulation and practical experiments showed the validity and agility of Labriform swimming robot.

FLIGHT DYNAMICS AND STABLE CONTROL ANALYSES OF MULTI-BODY AIRCRAFT

Multi-body aircraft is a new concept aircraft consisting of multiple small unmanned aerial vehicles hinged-connected by wing tips. This concept aircraft can integrate the performance and advantages of two types of flying platforms: small unmanned aerial vehicles and high-altitude long endurance unmanned aerial vehicles. It has great development potential. Based on the Newton-Euler equation and on the lifting line method, it establishes a multi-body aircraft flight dynamics model, and analyzes the trim and stability characteristics of the multi-body aircraft system that allowing the relative degree of freedom of rolling motion with the dual-aircraft combination. The results show that, different from the traditional configuration aircraft, the multi-body aircraft system has an unstable relative motion flight mode, which is dominated by relative rolling motion. This configuration aircraft cannot fly stably in an uncontrolled situation. Based on the completion of the dynamics modeling, the Proportion-Integration-Differentiation control method is used for stable control. The stable control loop is designed separately for each single aircraft to achieve the purpose of stable flight. The simulation results show that the control method is effective and can quickly stabilize the divergent flight dynamics system.

Research on path generation and stability control method for UAV‐based intelligent spray painting of ships

AbstractThis paper presents an intelligent path planning method with multiple constraints to solve the problem of instability of unmanned aerial vehicle (UAV) intelligent spray painting (UAV‐ISP) systems for spray painting the outer panels of ships. Spray‐painting path planning is realized using the multiobjective particle swarm algorithm and ant colony algorithm. In addition, a stability control method for the UAV based on the linear active disturbance rejection control (LADRC) algorithm is proposed and controlled by Mission Planner ground station software to solve the stability control problem of UAVs during spray painting. Through the above two key technologies, the painting quality of the UAV‐ISP system is guaranteed. First, a three‐dimensional (3D) model of the ship was obtained in a 3D modeling environment. Then the paint paths were optimized using the multiobjective particle swarm algorithm. The optimized path planning results were then combined using the ant colony algorithm to obtain the final spray painting path. Force analysis of the UAV during spray painting was carried out using the Newton–Euler equation and catenary theory, and a mathematical model of the UAV spray‐painting system with multiload coupling was established. Finally, a stability control system for the spray‐painting UAV based on LADRC was designed. The experimental and simulation results show that the proposed painting path is accurate, the spray‐painting UAV has good stability, and the spray‐painting quality of the UAV‐ISP system meets the standards for the outer panels of ships.

A fast and efficient tool to study the rheology of dense suspensions

A cutting-edge software that adopts an optimized searching algorithm is presented to tackle the Newton–Euler equations governing the dynamics of dense suspensions in Newtonian fluids. In particular, we propose an implementation of a fixed-radius near neighbors search based on an efficient counting sort algorithm with an improved symmetric search. The adopted search method drastically reduces the computational cost and allows an efficient parallelization even on a single node through the multi-threading paradigm. Emphasis is also given to the memory efficiency of the code since the history of the contacts among particles has to be traced to model the frictional contributions, when dealing with dense suspensions of rheological interest that consider non-smooth interacting particles. An effective procedure based on an estimate of the maximum number of the smallest particles surrounding the largest one (given the radii distribution) and a sort applied only to the surrounding particles only is implemented, allowing us to effectively tackle the rheology of non-monodispersed particles with a high size-ratio in large domains. Finally, we present validations and verification of the numerical procedure, by comparing with previous simulations and experiments, and present new software capabilities.

Gripper Control Design and Simulation for OpenROV Submarine Robot

In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system.

Revisiting screw theory-based approaches in the constraint wrench analysis of robotic systems

AbstractThis paper aims at shedding lights on two approaches that were recently proposed for the constraint wrench analysis of robotic manipulators. Both approaches benefit from the Newton–Euler equations, screw notations, and constraint transformation matrices (CTM) to cope with the inverse dynamic problem of multibody systems. In the first approach, which is called the joint-based method, the constraint transformation matrices are derived directly from the kinematic constraints which are imposed on the rigid links by kinematic pairs. In the second approach, which is referred to as the link-based method; however, the constraint matrices are obtained based on the wrench transfer formula of each rigid link. In this study, by resorting to the definition of reciprocal screws, the former methodology is further enhanced to a new version as well. Moreover, based on the proposed modified joint-based CTM, constraint forces and moments distribution indices are introduced. The three constraint wrench analysis methodologies, two joint-based and one link-based, result in different CTMs and set of equations as well, which will be discussed in detail. In the end, on two case studies, a spherical four-bar linkage and a Delta parallel robot, the pros and cons of all three constraint wrench analysis methodologies are discussed, and the proposed indices will be examined. The numerical results reveal that, although all three methods identically compute the magnitude of the applied and constraint force and moment vectors, the joint-based approaches do not report the constraint components with respect to a specific coordinate frame. Moreover, it is shown that the proposed indices can approximately predict the constraint forces and moments distribution at joints, which can be used as force transmission indicators in multibody systems.

Setting up the 3D dynamic model to study the dynamic wheel load of the tractor semi-trailer

The paper presents how to build a 3D dynamic model to study the dynamic wheel load of the tractor semi-trailer. The method of structural separation of a multi body system (MBS) was used to build a 3D dynamic model, and the Newton-Euler equation was used to build the dynamic equation system of the tractor semi-trailer. The Matlab-simulink software was used to examine the dynamic wheel load of the tractor semi-trailer on 6 types of road. The results showed that, when braking the tractor semi-trailer at a speed of 60 km/h on 6 types of road with the grip coefficient of cpxmax = [0.5; 0.6; 0.7; 0.8; 0.9; 1.0], the wheel load of the front wheels Fz11 increases by about (70-80)%; the wheel load of the midle wheels Fz31 decreases by about (5-8)%; the wheel load of the rear wheels Fz61 decreases by about (13-20)%. When the tractor semi-trailer moves at a speed of 80 km/h, the wheel load of the front wheels Fz11 increases by about (72-82)%; the wheel load of the midle wheels Fz31 decreases by about (5-7)%; the wheel load of the rear wheels Fz61 decreases by about (14-20)%.

Modelling and design of flight control for quadcopter in ballistic airdrop mission under wind perturbation

Airdrop mission are often carried for areas that are difficult to reach using land route and do not have the infrastructure for manned aircraft. The benefits of using Unmanned Aerial Vehicle (UAV) for airdrop mission are getting much more attention with the rapid development of unmanned technology since last decade. The purpose of this paper is to develop a mathematical model of a quadcopter to carry out ballistic airdrop mission in a windy environment, modelled in the MATLAB/Simulink software. The quadcopter based on nonlinear dynamics model which is obtained by using Newton-Euler equation, equipped with sensor model, and free-fall payload model. The sensor consists of Inertial Measurement Unit (IMU), barometer, and Global Navigation Satellite System (GNSS). Sensor fusion algorithm is developed to estimate attitude and position of quadcopter using Kalman filter, as well as to estimate the wind speed. A Proportional, Integral, and Derivative (PID) based controller is designed to obtain the attitude and position control of quadcopter using estimated state of quadcopter. Then, the quadcopter will carry out an airdrop mission by following a simple automated waypoint navigated system. The results of the ballistic airdrop show good precision and accuracy in a high speed, but emphasize the importance of validation model.

Extended Kalman Filter Based Estimations for Satellite Attitude Control System

This paper mainly focuses on the maneuver of the satellite in orbit. A non-linear multi-inputs multi-outputs model has been derived from Newton-Euler equations of motion. The dynamics is presented with control methodologies allowing the Extended Kalman Filter (EKF) to iteratively provide improved data sets with zero errors. As the system is distracted from the atmospheric swings which are random hence the problem of stochastic disturbance is furnished. A set of differential equations of two dimensional Ito stochastic type is used for modeling the said disturbances (before t = 4s is recorded). The attitude parameters are recorded in RT-LAB setup with the Extended Kalman Filter (EKF) providing adequately superior estimation outcome which thereby makes the filter more appealing. With the presence of Gaussian noise in both dimension and system, Extended Kalman Filter gives the correct estimates. It’s collaboration with hardware setup RT-LAB is commendable. Hence, an Extended Kalman Filter which deals with such nonlinear models proves to be a higher choice for achieving best online results. A comparison reflecting the tracking and stable control of the satellite for the designed advanced adaptive robust controller (AARC) for two situations is plotted. The priority of making the system stable in the presence of stochastic disturbance is also visited. Also, the use of three different values of the confounding variables revealed that the control weighting line is completely diminished thereby boosting the tracking when the satellite is in orbit. Moreover, the previous research involves methods to improve satellite communication on ground station, this paper deals with exact positioning of concerned satellite attitude parameters and its validation tested experimentally on OPAL-RT hardware. To sum up, the development of advanced adaptive robust controllers have encouraged the stability and accuracy of systems considering the varying atmospheric conditions. The simulation results predict perfect tracking of output with respect to the desired set-point in the presence of stochastic disturbance for the proposed controller.

Stabilization control for unmanned helicopter-slung load system based on active disturbance rejection control and improved sliding mode control

Unmanned helicopters are widely used in military and civil fields. One of the most important applications is flying with an underslung load, but the pendulum-like behavior of the load can cause damage or even forced landing to the helicopter. To solve this problem, a control strategy to stabilize the helicopter/load system based on active disturbance rejection control (ADRC) and improved sliding mode control (ISMC) algorithms is proposed in this paper. First, the helicopter/load system is modelled using Newton-Euler equations according to the multi-body dynamics theory. Then a manipulation strategy which can reduce the swing angle of the load and an overall control strategy for the helicopter/load system are presented. Specifically, ADRC is applied to attitude control due to its ability to regard the pendulum-like behavior as the internal uncertainties of the system, meanwhile ISMC to position control. Within ISMC, two sliding surfaces with adjustable weights are constructed by employing the position of the helicopter as well as the swing angle of the load. In addition, a real-time beetle antennae search algorithm is designed to online modify the weights by taking the minimum error at current time as the optimization objective. Besides, the radial basis function neural network is introduced to approach the uncertainty coefficients considering the system’s complexity. At last, relevant simulations are carried out and the results indicate that the system is capable of not only controlling the attitude and position of the helicopter precisely but also stabilizing the underslung load rapidly with ADRC and ISMC.

Enhancement of Labriform Swimming Robot Performance Based on Morphological Properties of Pectoral Fins

A swimming performance underlies the biomechanical properties and functional morphology of fish fins. Recently, one of the major fields of robotics researchers' interest, is how to resolve some of the difficulties associated with the different water environments like ponds, lagoons, rivers, and deep water or even shallow, sometimes, exploration and searching in many of these environments tend to be dangerous or inaccessible to man. Thus, it is important to develop an efficient technology with direct applications as a solution to the problems appointed such as the use of swimming robots. In this research, design and realization of a swimming robot propelled by a pair of pectoral fin are implemented. The complete design of the swimming robot body is presented. Next, the effect of varying fin oscillation speed in two phases will be observed, the first phase is the power stroke one, where the fins start to push toward the backward of the body, and the recovery phase, where the fins return toward the frontal part of the body. The detailed steps of the robot design are presented and the thrust force exerted by pectoral fins has been evaluated. The suggested swimming robot is a rigid-body with an elliptical cross-sectional area, which helps in minimizing the water resistance during the thrusting process. To improve the system performance, the kinematic and dynamic model of a swimming robot has been derived based on Newton–Euler equations, while an evaluation of the total hydrodynamic forces that are exerted on the swimming robot’s body is studied via the computational fluid dynamics method. Further, a proportional integral derivative controller has been suggested for motion controlling. The proposed design has been validated theoretically via SOLIDWORKS® platform and examined experimentally by several experiments. The results of the simulation and practical experiments showed the validity of the proposed system as a labriform swimming robot.

On the use of multibody dynamics techniques to simulate fluid dynamics and fluid–solid interaction problems

A multibody dynamics-based solution to the fluid dynamics problem is compared herein to two established Lagrangian-based techniques used by the computational fluid dynamics (CFD) community. The multibody dynamics-based solution has two salient attributes: it enforces the incompressibility condition through bilateral kinematic constraints, and it treats the coupling with the solid phase via unilateral kinematic constraints. The multibody dynamics-based solution, called herein the Kinematically Constrained Smoothed Particle Hydrodynamics (KCSPH) method, is a Lagrangian approach to solving the CFD problem. It relies on the Smoothed Particle Hydrodynamics (SPH) method to discretize the spatial differential operators in the Navier–Stokes equations, and on the Newton–Euler equations of multibody dynamics to convect the SPH particles forward in time. We show that the multibody dynamics-based approach is efficient and accurate by comparing its performance with the two most commonly used SPH algorithms in the CFD community: the weakly compressible SPH (WCSPH), and the implicit SPH (ISPH) methods. The comparison is carried out in conjunction with four tests: an incompressibility benchmark test, dam break, floating cylinder, and sloshing tank. We conclude that KCSPH is a robust alternative to conventional CFD approaches for fluid–solid interaction (FSI) problems with complex/moving boundaries. The solvers and models used herein are publicly available in an open-source software called Chrono; the implementations use GPU (for WCSPH and ISPH), and multicore CPU (for KCSPH) parallel computing.

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

PurposeThis paper aims to provide a mathematical modeling and design of H-infinity controller for an autonomous vertical take-off and landing (VTOL) Quad Tiltrotor hybrid unmanned aerial vehicles (UAVs). The variation in the aerodynamics and model dynamics of these aerial vehicles due to its tilting rotors are the key issues and challenges, which attracts the attention of many researchers. They carry parametric uncertainties (such as non-linear friction force, backlash, etc.), which drives the designed controller based on the nominal model to instability or performance degradation. The controller needs to take these factors into consideration and still give good stability and performance. Hence, a robust H-infinity controller is proposed that can handle these uncertainties.Design/methodology/approachA unique VTOL Quad Tiltrotor hybrid UAV, which operates in three flight modes, is mathematically modeled using Newton–Euler equations of motion. The contribution of the model is its ability to combine high-speed level flight, VTOL and transition between these two phases. The transition involves the tilting of the proprotors from 90° to 0° and vice-versa in 15° intervals. A robust H-infinity control strategy is proposed, evaluated and analyzed through simulation to control the flight dynamics for different modes of operation.FindingsThe main contribution of this research is the mathematical modeling of three flight modes (vertical takeoff–forward, transition–cruise-back, transition-vertical landing) of operation by controlling the revolutions per minute and tilt angles, which are independent of each other. An autonomous flight control system using a robust H-infinity controller to stabilize the mode of transition is designed for the Quad Tiltrotor UAV in the presence of uncertainties, noise and disturbances using MATLAB/SIMULINK. This paper focused on improving the disturbance rejection properties of the proposed UAV by designing a robust H-infinity controller for position and orientation trajectory regulation in the presence of uncertainty. The simulation results show that the Tiltrotor achieves transition successfully with disturbances, noise and uncertainties being present.Originality/valueA novel VTOL Quad Tiltrotor UAV mathematical model is developed with a special tilting rotor mechanism, which combines both aircraft and helicopter flight modes with the transition taking place in between phases using robust H-infinity controller for attitude, altitude and trajectory regulation in the presence of uncertainty.

Aerodynamic-Parameter Identification and Attitude Control of Quad-Rotor Model with CIFER and Adaptive LADRC

Current research on quadrotor modeling mainly focuses on theoretical analysis methods and experimental methods, which have problems such as weak adaptability to the environment, high test costs, and long durations. Additionally, the PID controller, which is currently widely used in quadrotors, requires improvement in anti-interference. Therefore, the aforementioned research has considerable practical significance for the modeling and controller design of quadrotors with strong coupling and nonlinear characteristics. In the present research, an aerodynamic-parameter estimation method and an adaptive attitude control method based on the linear active disturbance rejection controller (LADRC) are designed separately. First, the motion model, dynamics model, and control allocation model of the quad-rotor are established according to the aerodynamic theory and Newton–Euler equations. Next, a more accurate attitude model of the quad-rotor is obtained by using a tool called CIFER to identify the aerodynamic parameters with large uncertainties in the frequency domain. Then, an adaptive attitude decoupling controller based on the LADRC is designed to solve the problem of the poor anti-interference ability of the quad-rotor and adjust the key control parameter b0 automatically according to the change in the moment of inertia in real time. Finally, the proposed approach is verified on a semi-physical simulation platform, and it increases the tracking speed and accuracy of the controller, as well as the anti-disturbance performance and robustness of the control system. This paper proposes an effective aerodynamic-parameter identification method using CIFER and an adaptive attitude decoupling controller with a sufficient anti-interference ability.