This implies that the DFC controller can decouple the movement modes and can accurately calculate the 3 modes of the direct lift control such as direct lift and pitch pointing.

• 仿真实验表明基于Singh算法的直接力控制器能解除无人机在飞行过程中某些模态运动之间的交叉耦合,并能精确实现纯直接力、俯仰指向等3种模式的直接升力控制。