Quadrotor unmanned aerial vehicle attitude control method based on rapid nonsingular terminal sliding mode

The invention provides a quadrotor unmanned aerial vehicle attitude control method based on a rapid nonsingular terminal sliding mode. The method comprises the following steps: constructing a mathematical model of a quadrotor unmanned aerial vehicle; designing an integral terminal sliding mode function to eliminate steady-state errors and realize finite time convergence; designing an online adaptive estimation law to compensate for parameter uncertainty and unknown external interference; and designing selection criteria of controller parameters gamma phi 1, gamma theta 1 and gamma psi 1. According to the quadrotor unmanned aerial vehicle attitude control method provided by the invention, the rapid nonsingular terminal sliding function with the integral element is adopted, so that the tracking precision can be effectively improved, and meanwhile, the rapid response speed is kept. According to the method, a self-adaptive estimation law is adopted to update the control gain online, and the self-adaptive estimati