针对倾转四旋翼无人机过渡模态强耦合性及抗干扰能力弱等问题，在简化倾转旋翼无人机纵向动力学模型的基础上，设计了一种非超调滑模控制方法，其中包含两个有界增益子系统，第一个子系统实现非超调可达性，将初始值压缩到给定有界范围，第二个子系统实现局部非超调稳定性，使滑动变量收敛到零且无超调。利用遗传算法高效的全局搜索能力，对非超调滑模控制方法中的滑模控制增益参数以及滑模变量的边界参数进行优化，通过理论分析和仿真实验，对该方法的实用性和优越性进行了验证。实验结果表明，相较于传统滑膜控制，所设计的基于参数优化的非超调滑膜控制方法在高度控制及俯仰角控制方面，均能在较短时间内达到期望值。在有阵风干扰的情况下，非超调滑膜控制器在高度和俯仰角控制方面表现出更好的波动抑制和幅度控制性能。有效抑制了超调和抖振的发生，提高了控制精度，表现出更强的鲁棒性和可靠性。

Aiming at the problems of strong coupling and weak anti-interference ability of the transition mode of the tilt-rotor UAV(unmanned aerial vehicle), a non-overshoot sliding mode control method was designed on the basis of simplifying the longitudinal dynamic model of the tilt-rotor UAV. It includes two bounded gain subsystems. The first subsystem realizes non-overshoot reachability, compresses the initial value to a given bounded range, and the second subsystem realizes local non-overshoot stability, so that the sliding variable converges to zero and there is no overshoot. Using the efficient global search ability of genetic algorithm, the gain parameters of sliding mode control and the boundary parameters of sliding mode variables in the non-overshoot sliding mode control method were optimized. The practicability and superiority of the method were verified by theoretical analysis and simulation experiments. The experimental results show that compared with the traditional synovial control, the designed non-overshoot synovial control method based on parameter optimization can achieve the expected value in a short time in terms of height control and pitch angle control. In the case of gust disturbance, the non-overshoot sliding mode controller shows better fluctuation suppression and amplitude control performance in height and pitch angle control. It effectively suppresses the occurrence of overshoot and chattering, improves the control accuracy, and shows stronger robustness and reliability.