为实现四旋翼大姿态角快速跟踪控制，在SO（3）空间中设计了一种非奇异快速终端滑模控制器，所设计的控制具有较为简洁的结构，避免了欧拉角姿态表示奇异及局部线性化的问题。改进的趋近律可加速系统远离滑模态的趋近速度且能有效去除抖振;通过Lyapunov稳定性理论对所设计的控制器进行了严格的稳定性证明;最后进行了姿态控制仿真，结果表明姿态跟踪迅速、精度高且抖振小。

To implement fast tracking control of large angle maneuvering of quadrotor UAVs， a nonsingular fast terminal sliding mode controller with more compact structure is designed on the SO(3)， which eliminates the singularity of Euler angle description and the problem of local linearization.The modified reaching law can accelerate the system approaching speed when far from the sliding state， and eliminate the chattering effectively.The stability of the controller is proved by using the Lyapunov stability theory.The simulation results show that the attitude is tracked quickly with high precision and low chattering.