四旋翼飞行器结构复杂,姿态角数学模型难以精确建立,滑模控制是姿态角控制的热点方法。但传统滑模控制在到达阶段鲁棒性较差,且很难精确的使跟踪误差的动态及稳态性能同时达到预先设定的性能要求。为解决上述问题,利用性能函数并通过误差转换将一个对输出存在性能约束的非线性问题转化为一个无约束问题,根据转换后的误差并结合微分跟踪器设计一个新型快速时变终端滑模面并设计控制器,消除了到达阶段,使系统具有全局鲁棒性。上述方法不但能保证闭环系统所有信号有界,而且可使跟踪误差在有限时间按照预先设定的性能收敛。仿真结果表明,选用方法具有很强的鲁棒性,且能同时达到需要的动态和稳态性能。 The structure of quadrotorcraft is complex and the attitude angle mathematical model is difficult to establish precisely. Sliding mode control is a hotspot method of attitude angle control. However, the traditional sliding mode control is less robust in the arrival phase and it is difficult to accurately and accurately achieve the predetermined performance requirements of the dynamic and steady-state performance of the tracking error. In order to solve the above problem, a non-linear problem with performance constraints on output is transformed into an unconstrained problem by using the performance function and error transformation. A new type of fast time-varying terminal slip surface is designed based on the transformed error and differential tracker And design the controller, eliminating the arrival phase, making the system globally robust. The above method can not only ensure that all the signals in the closed-loop system are bounded, but also make the tracking error converge for a limited time according to the preset performance. The simulation results show that the selection method has strong robustness and can simultaneously achieve the required dynamic and steady-state performance.