中文摘要：

针对欠驱动四旋翼飞行器受控模型的复杂非线性问题，提出了一种基于反步的滑模控制器的设计方法。该方法将四旋翼飞行器动力学模型进行简化，并将系统分解为全驱动子系统和欠驱动子系统，进而以滑模变结构控制理论为基础，利用反步控制方法推导出滑模控制面，分别为上述两个子系统设计控制律，为系统设计基于反步的滑模控制器。通过李雅普诺夫稳定性理论验证了用上述方法设计的控制器系统的稳定性。通过Matlab／Simulink进行的仿真表明，用上述方法设计的控制器能够有效实现对四旋翼飞行器的控制。

英文摘要：

In order to solve the complex nonlinear problem of an underactuated quadrotor＇ s aircraft controllable model, a method for design of sliding mode controllers based on backstepping is presented. The design method simplifies the dynamics model of a quadrotor aircraft, and decomposes the system into a fully actuated subsystem and an underac- tuated subsystem, and then, derives the surface of sliding mode control by using the backstepping control method based on the variable structure control theory of sliding mode, designs the control law for the above two subsystems respectively, and designs the backstepping based sliding mode controller for the system. The system stability under the use of the new design was verified by using the Lyapunov stability theory. The simulation conducted based on Matab/Simulink showed that the use of the proposed design method could create effective sliding mode controllers for quadrotor aircrafts.