Quadrotor unmanned aerial vehicle control method

The invention belongs to the field of unmanned aerial vehicle control and particularly relates to a quadrotor unmanned aerial vehicle control method. An attenuation function of a dynamic sliding mode surface in global sliding mode control is designed into a one-order differentiable function composed of three exponential function items, and thus can be attenuated to zero in limited time. Thus, global robustness of the global sliding mode control of a quadrotor unmanned aerial vehicle is achieved, the dynamic sliding mode surface can be evolved into a linear sliding mode surface in limited time, and thus the dynamic responding speed of the system is increased. The quadrotor unmanned aerial vehicle control method is suitable for the field of control over quadrotor unmanned aerial vehicles. 本发明属于无人机控制领域，具体为种四旋翼无人机控制方法。将全局滑模控制的动态滑模面的衰减函数设计为由三个指数函数项组成的阶可导函数，使其能在有限时间内衰减为零。从而使四旋翼无人机的全局滑模控制既具有全局鲁棒性，又能够使动态滑模面在有限时间内演化为线性滑模面，从而加快系统的动态响应速度。本发明适用于四旋翼无人机控制领域中。