为解决存在模型不确定性与外部干扰时的固定翼无人机控制问题，设计了一种非线性滑模扩张干扰观测器与快速响应动态逆相结合的控制律。在扩张干扰观测器设计的基础上，引入滑模原理设计了一种非线性滑模扩张干扰观测器，对干扰及其变化率进行实时估计；将无人机姿态运动方程分为姿态角慢回路与姿态角速率快回路，依此分别设计动态逆控制律，并基于干扰估计量对未知扰动进行补偿，同时在快回路控制器中加入由快速跟踪微分器(TD）估计的指令值微分量，以提高控制器的响应速度，最后证明了复合控制器的稳定性。仿真实验表明，设计的复合控制器能够对无人机姿态运动进行高效控制。

In order to realize the attitude control of fixed-wing UAVs under the conditions of uncertainties and external disturbances, a control law combining the extended disturbance observer of the nonlinear sliding mode with the fast-response dynamic inversion was designed. On the basis of the design of the extended disturbance observer, an extended disturbance observer of the nonlinear sliding mode was designed by introducing the sliding mode theories, so as to make real-time estimation of the disturbances and their rate of change. The UAV attitude equation was divided into the slow loop of the posture angle and the fast loop of the attitude angular velocity. Then the dynamic inverse control law was designed respectively and the unknown disturbance was compensated based on the disturbance estimation.At the same time, the differential value of the command value estimated by TD (fast Tracking Differentiator) was added to the fast loop controller to improve its response speed. Finally, the stability of the composite controller was proved.The simulation results show that the designed composite controller can control the attitude movement of UAVs efficiently.