Finally, the paper designed an aerocraft attitude tracking controller with VSS based on error quaternion. We make simulation to the controller.

• 最后，本文利用滑模变结构控制理论推导、设计出了一种基于误差四元数的滑模变结构控制(Variable Structure Control with Sliding Mode，VSS)飞行器姿态跟踪控制律，并对其进行了实例仿真。