Abstract:This paper investigates the finite time prescribed performance control problem for the trajectory tracking problem of quadrotor UAVs with time-vary disturbance, model uncertainty and constrain of the output error. Firstly, the UAVs dynamic model is decoupled into attitude subsystem and position subsystem. Secondly, by introducing the error conversion function and performance constraint function, the finite time convergence of the conversion error is realized through the reasonable design of the fast terminal sliding surface, so as to realize the control of the output error constraint of the original system. Furthermore, the stability analysis shows that the designed controller can guarantee the finite time stability of the system, and make the system have good transient stability performance. Finally, a simulation example shows the effectiveness of the proposed methods.