中文摘要：

针对具有参数不确定性的欠驱动四旋翼无人飞行器，设计了一种非线性飞行控制器．该控制器主要采用非线性鲁棒以及在线参数估计算法．利用基于李亚普诺夫稳定性分析方法，证明了这种控制器可以使四旋翼无人飞行器的z，y，z方向的位移跟踪参考轨迹，偏航角曲稳定到任意点，并且达到全局最终稳定的控制效果．同时相对于一般的滑模控制算法，本文提出的控制器消除了颤振现象．数值仿真结果表明，本文提出的控制设计具有良好的控制效果．

英文摘要：

A new nonlinear tracking controller is presented for an underactuated quaarotor unmanned aerial vehicle （UAV） subjected to parametric uncertainties. A continuous nonlinear robust control design is combined with an on-line parameter estimation scheme to develop the control law. A Lyapunov based stability analysis is used to prove that asymptotic tracking of the quadrotor UAV＇s position and regulation of yaw orientation are achieved under parametric uncertainties. Compared with the sliding mode based control approaches, the proposed control design is free of chattering. Numerical simulation results of a 6 DOF quadrotor UAV model show that the proposed control strategy has good tracking performance.