针对传统的自适应离散趋近律控制应用于四旋翼偏航控制系统存在抖振问题，提出了一种新型自适应离散滑模等效控制方法．在动力学模型的基础上，改进了传统的自适应离散趋近律，推导了新型自适应离散滑模控制律，且通过Lyapunov函数证明改进自适应离散趋近律下所设计的控制器的稳定性，并引入一个衰减函数，大大减小了四旋翼偏航控制系统的高频抖振．MATLAB仿真分析表明，改进的自适应离散滑模控制的系统调节时间比传统的自适应离散滑模控制缩短了约0.6 s ，而且大大降低了系统抖振．%To solve the problem of chattering when the traditional adaptive discrete exponent reac‐hing law control was applied to the yaw control system of quad‐rotor ,a new adaptive discrete sliding mode controller was designed .Based on the dynamic model ,the traditional adaptive dis‐crete exponent reaching law was improved and the new adaptive discrete sliding mode control law was deduced .Then the stability of the controller under the improved adaptive discrete exponent reaching law was proved by Lyapunov function and a decay function was introduced to reduce the high frequency chattering associate with the yaw control system of quad‐rotor .The results of MATLAB simulation showed that the adjusting time of the improved adaptive discrete sliding mode control had 0 .6 s shorter than the traditional adaptive discrete sliding mode control and the chattering of the system was greatly reduced .
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