中文说明：
基于主从式控制策略，以固定翼无人机作为研究对象，研究复杂情况下的多无人机姿态一致性控制方法。首先基于牛顿力学，给出理想(无干扰及故障)情形下的无人机姿态运动数学模型，并结合主从式协同控制策略，设计分布式姿态一致性控制器，考虑到无人机在飞行过程中的实际情况，在无人机姿态运动理想数学模型的基础上，给出包含干扰、测量误差、模型或参数不确定、控制器微小故障、控制器卡死故障和状态时延的无人机全控制方法。
English Description：
Based on the master-slave control strategy, fixed wing UAV is taken as the research object to study the attitude consistency control method of multiple UAVs under complex conditions. Firstly, based on Newton mechanics, the mathematical model of UAV attitude motion in ideal (non-interference and fault) situation is given. Combined with the master-slave cooperative control strategy, the distributed attitude consistency controller is designed. Considering the actual situation of UAV in flight, based on the ideal mathematical model of UAV attitude motion, the attitude consistency controller including interference, measurement error, measurement error and control error is given This paper presents a full control method for UAV with uncertain model or parameters, small controller fault, controller stuck fault and state delay