[1] [1] XU Lifang JIANG Shouda.Research of intelligence control for flying atltitude of four rotors flyer［C］//International Conference on Artificial Intelligence and Computational Intelligence 2010:294-298.

[2] [2] VOOS H.Nonlinear and neural network-based contorl of a small four-rotor aerial robot［C］//International Conference on Advanced Intelligent Mechatronics 2007:1-6.

[3] [3] FUJIMOTO K YOKOYAMA M TANAB Y.I&I-based adaptive control of a four-rotor mini-helicopter［C］//The 36th Annual Conference on IEEE Industrial Electronics Society 2010:144-149.

[4] [4] LIU Huanye LI Jian YAO Jianguo et al.Backstepping based adaptive control for a mini rotorcraft with four rotors［C］//The second International Conference on Computer Modeling and Simulation 2010:472-476.

[5] [5] MCKERROW P.Modelling the draganflyer four-rotor helicopter［C］//Proceedings of the 2004 IEEE International Conference on Robotics and Automation April 26-May 1 2004:3596-3601.

[6] [6] BENALLEGUE A MOKHTARI A.High-order sliding-mode observer for a quadrotor UAV［J］.International Journal of Robust and Nonlinear Control 2008 18:427-440.

[7] [7] RAFFO G V ORTRGA M G.An integral predictive/nonlinear H∞control structure for a quadrotor helicopter［J］.Automatica 2010 46:29-39.

[8] [8] ESCARENO J SALAZAR-CRUZ S LOZANO R.Embedded control of a four-rotor UAV［C］//American Control Conference 2006:3936-3941.

[9] [9] VOOS H.Nonlinear state-dependent riccati equation control of a quadrotor UAV［C］//Proceedings of the 2006 IEEE International Conference on Control Applications Munich Germany 2006:2547-2552.

[12] [12] BOUABDALLAH S NOTH A SIEGWART R.PID vs LQ control techniques applied to an indoor micro quadrotor［C］//Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems 2004:2451-2456.