中文摘要：

文章针对四旋翼飞行器的飞行控制设计了滑模控制器。针对飞行器的高度控制，设计了一种基于滑模控制方法的控制器，并根据李雅普诺夫稳定性理论证明了飞行器系统的所有信号最终是一致有界的；针对飞行器的姿态控制设计了滑模控制器，并对其进行了稳定性证明，且针对该控制器产生较大抖振的问题提出了采用双幂次趋近率的改进方法。仿真结果证明了设计的控制器能较好地控制四旋翼飞行器。

英文摘要：

A kind of sliding mode controller is designed in view of the four rotor aircraft tlight control. Firstly, for the height control of four rotor aircraft, a kind of controller based on sliding mode control method is designed,and it is proved that all signals are uniformly bounded eventually according to the Lyapunov stability theory. Secondly, the sliding mode controller is designed for the attitude angle of aircraft,and the stability of it is verified. The double power reaching rates are adopted to reduce the chattering of the controller. Finally, the simulation results show that the designed controller can better control the four rotor aircraft.