Four-rotor aircraft sliding mode variable structure control method based on inversion method

The invention discloses a four-rotor aircraft sliding mode variable structure control method based on an inversion method. The four-rotor aircraft sliding mode variable structure control method comprises the steps that firstly, a four-rotor aircraft kinetic model is analyzed and simplified and is systematically decomposed into an all-wheel-drive subsystem and an under-actuation subsystem; further, the inversion control method is utilized to derive a sliding mode control face with a sliding mode variable structure control theory as a basis, control laws are designed for the two subsystems, and the system stability is verified through a Lyapunov stability theory; finally, a controller of a four-rotor aircraft is designed out. The four-rotor aircraft sliding mode variable structure control method is integrated with the inversion method, is used for controlling spot hover and trajectory tracking control of the aircraft, analyzes the dynamic nature and the stability of the aircraft, effectively improves the respon