This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method.

本文研究了四旋翼无人飞行器（UAV）的轨迹跟踪问题，同时考虑了姿态和位置动力学。首先，通过引入虚拟姿态角命令，将轨迹跟踪问题分为在位置和姿态环中跟踪的命令。其次，引入高阶滑模观测器（HSMO）估计位置环中的集总扰动以及姿态角跟踪误差的导数，姿态环中的集总扰动。然后将HSMO的估计信息引入控制器设计过程中，构造出位置环中的复合非线性动力学逆控制器和姿态环中的复合非奇异终端滑模控制器。最后，