Chapter 1 Introduction 1.1 Background 1.2 Challenge in flight control 1.2.1 Technical characteristic 1.2.2 Difficulty and challenge in flight control 1.3 Recent research 1.3.1 Dynamic modeling 1.3.2 Flight strategy and control 1.4 Content and structure arrangement Chapter 2 Theoretical Modeling of Three-duct Compound UAV 2.1 Introduction 2.2 Overview of three-duct compound UAV 2.3 Equation building of motion state 2.3.1 Coordinate system 2.3.2 Assumption 2.3.3 Dynamics equation 2.3.4 Kinematical equation 2.3.5 Mass change equation 2.4 Aerodynamic model of ducted rotor 2.4.1 Aerodynamic of ducted rotor in hover 2.4.2 Aerodynamic of ducted rotor in low speed flight 2.4.3 Verification of calculation result 2.5 Tail auxiliary ducted rotor 2.6 Propeller 2.7 Fuselage 2.8 Summary Chapter 3 Dynamic Modeling with System Identification 3.1 Characteristic and theoretical basis 3.1.1 Cross-correlation function 3.1.2 Autocorrelation function 3.2 Flight test platform 3.3 Identification data processing 3.3.1 Data outlier removal and correction 3.3.2 Data filtering 3.3.3 Data consistency analysis 3.3.4 Coherence analysis 3.4 Identification of flight dynamics model 3.4.1 Multiple input multiple output identification 3.4.2 Multiple input single output identification 3.4.3 Single input single output identification 3.5 Summary Chapter 4 Control Strategy in Transition Mode 4.1 Control strategy for transition 4.1.1 Mathematical model 4.1.2 Optimal control 4.2 Summary Chapter 5 Flight control of three-duct compound UAV 5.1 H robust control 5.1.1 Control theory basis 5.1.2 Matematical model considering uncertainty 5.1.3 Controller design based on dynamic inverse and loop shaping 5.1.4 Simulation 5.2 Fuzzy PID control 5.2.1 Fuzzy control 5.2.2 Controller design based on improved genetic optimization algorithm 5.2.3 Simulation 5.3 Fixed-wing mode flight control 5.3.1 Path-tracking control 5.3.2 Attitude control 5.4 Flight test 5.4.1 Fixed-point hover test 5.4.2 Forward flight test 5.5 Summary References