高速直升机过渡模态具有典型的操纵冗余与控制非仿射特点，同时气动干扰与不确定性对控制效能矩阵的显著影响进一步增加了姿态控制设计难度。为此，本文针对高速直升机过渡模态的姿态控制问题，提出一种鲁棒自适应控制架构。首先，根据高速直升机动力学模型，利用操纵功效分析其舵面操纵特性，设计过渡模态的姿态控制策略。在此基础上，提出一种基于自适应滤波增量非线性动态逆的角速度控制器，快速补偿控制效能矩阵不确定性与角加速度测量/估计误差的不利影响。随之，结合高速直升机共轴双旋翼与尾翼的变权限控制特性，设计基于控制权重系数的增量分配策略，保证过渡模态下直升机操纵模式与固定翼操纵模式的平滑转换。最后，与传统增量非线性动态逆方法进行比较，结果表明，所提出的姿态控制器具有更好的控制性能与鲁棒性。

During the transition mode， high-speed helicopters possess typical characteristics of control redundancy and control non-affine， and there is a significant effect of aerodynamic interference and uncertainties on the control effectiveness matrix， bringing challenges to attitude control design. This paper proposes a robust adaptive control architecture to address the attitude control problem of the high-speed helicopter in transition flight. Based on the dynamic model of the high-speed helicopter， the control characteristics of its control surfaces are analyzed using control efficiency， and an attitude control strategy of transition mode is developed. Furthermore， an Adaptive Filtered Incremental Nonlinear Dynamic Inversion （AFINDI） control method is proposed to design an angular rate controller， which can effectively compensate for the adverse effects caused by control effectiveness matrix uncertainties and angular acceleration measurement/estimation errors. Then， according to the changing control authorities of coaxial rotors and empennages， an incremental allocation strategy with the weight coefficients of control surfaces is established to guarantee smooth conversion between helicopter and fixed-wing control modes in transition flight. Finally， compared with the conventional incremental nonlinear dynamic inversion control method， the proposed attitude controller has better control performance and robustness.