[1] [1] GUERRERO CASTELLANOS J F, MARCHAND N, HABLY A. Bounded attitude control of rigid bodies: real time exper imentation to a quadrotor mini helicopter［J］. Control Engineering Practice, 2011, 19(8): 790-797.

[2] [2] ERGINER B, ALTU E. Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOL vehicle［J］. International Journal of Control, Automation, and Systems, 2012, 10(1): 61-70.

[3] [3] NICOLA C, MACNABA C J B, RAMIREZ SERRANO A. Robust adaptive control of a quadrotor helicopter［J］. Mechatronics, 2011, 21(6): 927-938.

[4] [4] CHEN X J, LI D, BAI Y, et al. Modeling and neuo fuzzy adaptive attitude control for eight rotor MAV［J］. International Journal of Control, Automation, and System, 2011, 9(6): 1154-1163.

[6] [6] YANG C S, YANG Z, HUANG X N, et al. Modeling and robust trajectory tracking control for a novel six rotor unmanned aerial vehicle ［J］. Mathematical Problems in Engineering, 2013, 673525：1-13.

[9] [9] YIN L L, SHI J S, HUANG Y M. Modeling and control for a six rotor aerial vehicle［C］ //International Conference on Electrical and Control Engineering, 2010: 1289-1292.

[12] [12] BESNARD L, SHTESSEL Y B, LANDRUM B. Control ofa quadrotor vehicle using sliding mode disturbance observer［C］//Proceedings of the American Control Conference, New York City, USA, 2007: 5230-5235.