针对四旋翼飞行器的欠驱动滑模控制对飞行器模型严重依赖问题、飞行器数学模型的特点与姿态及位置控制问题,提出了一种基于模糊理论的滑模控制算法。将飞行器整体控制分为内环控制和外环控制两部分,设计不依赖精确数学模型的滑动模。该滑模控制器结合模糊理论尽可能满足滑模稳定条件ss·<0,从而实现四旋翼飞行器的稳定控制。仿真试验结果表明,所设计的控制器能够实现4 s内完成定点定姿态飞行,与传统的PID控制器相比,对未知扰动具有很好的抗扰性。 Aiming at the severe dependency problem of under-driven sliding mode control for four-rotor aircraft on aircraft model, the characteristics of aircraft mathematical model and attitude and position control, a sliding mode control algorithm based on fuzzy theory is proposed. The whole control of the aircraft is divided into two parts: the inner loop control and the outer loop control, and the sliding mode independent of the exact mathematical model is designed. The sliding mode controller combines the fuzzy theory with the sliding mode stability condition ss · <0 as much as possible, so as to realize the stable control of quadrotor. The simulation results show that the designed controller can achieve the fixed-position and fixed-position flight within 4 s, which has a good immunity to unknown disturbance compared with the traditional PID controller.