大包线范围内, 无人机动力学特征摄动明显, 需针对无人机本体不同的飞行动态特性设计控制律, 才能实现无人机高品质控制。以聚类划分技术为基础, 依据无人机包线局部小范围内动态稳定性和操纵性相似且连续的特点, 将包线划分为具有近似特征的子包线区域, 为无人机全包线控制律设计与调度奠定了基础。

In large envelope ranges, the dynamic characteristics of UAVs have obvious perturbation. Only if the control law is designed according to UAV's different dynamic flight characteristics, can the high-quality control of the UAV be realized. Based on the clustering partition technology and according to the similarity and continuity of the dynamic stability and maneuverability of UAV's envelopes in the regional scope, the envelope is divided into sub-envelope regions with similar characteristics. This approach provides a basis for the design and scheduling of UAV's full-envelope control laws.