Autonomous recovery control of the UAV spiral based on flight state-cognition

In response to the problem that risky flight states affect the flight safety of unmanned aerial vehicles (UAVs) seriously, an autonomous recovery control method of the UAV spiral based on flight state-cognition is proposed. First of all, principle of the autonomous recovery control method for UAVs is introduced, secondly, the causes of the spiral are analyzed and the intuitionistic fuzzy decision-making is adopted to realize the spiral cognition, finally, the recovery controller of the UAV spiral is designed, which considers the control scheduling of state variables and applies nonlinear dynamic inversion control laws. Simulation results demonstrate the effectiveness of the proposed method for spiral cognition and recovery and the advantages on other methods.