Abstract: In this paper, an anti-swing control method based on appointed-time preset performance control for wing rota-tion process of UAV towed aerial recovery assembly is proposed. Firstly, the characteristics of the aerial re-covery assembly are analyzed. A six degree of freedom nonlinear model of the aerial recovery assembly is established using the Newton-Euler method, and the additional forces and moments caused by the wing rota-tion are analyzed, and additional force and additional moment models containing the wing rotation angle are established. Secondly, in response to the strong nonlinear characteristics of aerodynamic force and aerody-namic torque changes during wing rotation, this paper adopts unsteady computational fluid dynamics methods to calculate the aerodynamic force and moments during this process, and establishes aerodynamic force and aerodynamic moments models containing the wing rotation angle. On this basis, the six degrees of freedom nonlinear models are transformed to affine nonlinear form, and a composite anti-swing control method inte-grating a non-constraining force vector sum direction feedforward compensation controller with an appointed-time prescribed performance control feedback controller is proposed. A simulation is carried out and the results show that, the maximum longitudinal displacement of the proposed method is 0.16 m, and the maximum lat-eral displacement is 0.18 m, demonstrating significant advantages of the proposed method.

Key words: Unmanned aerial vehicles(UAV), Aerial recovery, Rotary wing, Dynamics modeling, Prescribed performance.