Unmanned aerial vehicles (UAVs) have become popular in a wide range of applications, including many military and civilian uses. State-of-the-art control strategies for these vehicles are typically tailored to a specific platform and are often limited to a portion of the vehicle’s flight envelope. This article presents a single physics-based controller capable of aggressive maneuvering for the majority of UAVs. The controller is applicable to UAVs with the ability to apply a force along a body-fixed direction, and a moment about an arbitrary axis, which includes UAVs such as multi-copters, conventional fixed-wing, agile fixed-wing, most flying-wings, most tailsitters, some tilt-rotor/wing platforms, and some flapping-wing vehicles. We describe the implementation of this controller on numerous platforms, and demonstrate autonomous flight in outdoor flight tests for a quadrotor and an agile fixed-wing aircraft. To specifically demonstrate the extreme maneuvering capability of the control logic, we perform a rolling flip with the quadrotor and a rolling Harrier and an aggressive turnaround with the fixed-wing aircraft, all using a single controller.

无人机 (UAV) 已在广泛的应用中变得流行，包括许多军事和民用用途。这些飞行器最先进的控制策略通常是针对特定平台量身定制的，并且通常仅限于飞行器飞行包线的一部分。本文介绍了一种基于物理的单一控制器，能够为大多数无人机进行主动机动。该控制器适用于能够沿身体固定方向施加力，绕任意轴施加力矩的无人机，包括多旋翼、常规固定翼、敏捷固定翼、大多数飞行-机翼、大多数尾翼、一些倾转旋翼/机翼平台和一些扑翼飞行器。我们描述了这个控制器在众多平台上的实现，并在四旋翼和敏捷固定翼飞机的户外飞行测试中演示自主飞行。为了具体展示控制逻辑的极端机动能力，我们使用四旋翼飞行器和滚动鹞式飞机进行滚动翻转，并使用固定翼飞机进行激进的转向，所有这些都使用单个控制器。