中文摘要：

无人机在军用、民用领域具备巨大的应用潜力。当前世界各国正在大力推进无人机的研发工作。而无人机自主控制是无人机研发中极富挑战性的关键问题。本文介绍了无人机的分类和系统框架；根据无人机实际应用的要求。提炼出无人机自主控制进程中的几个关键性技术问题，包括感知与规避、故障诊断与容错控制、协同控制及这3项关键技术有机综合的新问题与新方法——容错协同控制等，并重点阐述了这些关键技术的机理和较有代表性的成果及新进展；以目前无人机重要应用领域——空中加油过程及森林资源与火情监测为例，简述了以上技术在实际应用中的具体体现及其新进展：最后对无人机自主控制技术进行了展望，并给出各项关键技术存在的挑战及可能的解决思路。

英文摘要：

Unmanned aerial vehicles （UAVs） have drawn significant interests worldwide due to the huge potential of being applied to both civilian and military areas. Autonomy is considered as one of the most challenging issues in the research and design process of UAVs. Firstly, classifications and system architectures of UAVs are presented in this paper. Secondly, since sense and avoid （S＆A）, fault detection and diagnosis （FDD） and fault-tolerant control （FTC）, and cooperative control are regarded as the key techniques for autonomous control of UAVs, the principles of the three key techniques are described; and the latest development on the integration of the three key techniques, known as fanlt-tolerant cooperative control （FTCC）, is also presented. Then, the key UAV technique applications to aerial refueling and forest resources and fire monitoring and detection are introduced. Finally, technical challenges and future directions are discussed.