The safe take-off and landing of UAV are bottleneck issue for its development.We establish the mathe-matical model of taxiing take-off of a UAV with three-wheel landing gears and propose its overall taxiing take-off control scheme that includes the lateral taxiing deviation correction control law and the rudder longitudinal control law.To eliminate lateral deviation and lateral velocity, the lateral taxiing deviation correction control law has the in-terpolated variantp-arameter PID controller and the fuzzy controller , with the front wheel cooperating with the rud-der .The implementation of longitudinal control law is assisted by the elevator according to the UAV taxiing perform -ance.The simulation results, given in Fig.8, and their analysis show preliminarily that the taxiing take -off control scheme we designed has good control performance for large nonlinear systems and can effectively correct lateral taxi-ing deviation.Thus the UAV takes off smoothly;the taxiing take-off control scheme is reasonable and feasible .%针对三点式起落架无人机建立了地面滑跑的非线性数学模型，提出了总体的滑跑起飞控制方案，包括横侧向的滑跑纠偏控制律和纵向升降舵配合控制律。横侧向采用侧向偏差和侧向速度组合的控制结构，通过前轮和方向舵联动方式实现，并在经典的PID控制器的基础上进行改进，设计了模糊控制器；纵向根据飞机滑跑段的性能分析，给出纵向控制方案，通过升降舵配合实现。仿真结果表明，模糊控制器对非线性较大的系统有较好的控制能力，侧偏和速度组合的控制结构纠偏效果明显，起飞过程平稳，滑跑起飞控制方案有一定的可行性和合理性。
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