[6] [6] ZHANG Y M, CHAMSEDDINE A, RABBATH C A, et al.Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed［J］.Journal of the Franklin Institute, 2013, 350(9):2396-2422.

[7] [7] RAIMUNDEZ C, VILLAVERDE A.Adaptive tracking control for a quad-rotor［C］//Euromech Nonlinear Dynamics Conference, Saint Petersburg, 2008:126-133.

[9] [9] ZHAO B, XIAN B, ZHANG Y, et al. Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology［J］.IEEE Transactions on Industrial Electronics, 2015, 62(5):2891-2902.

[11] [11] DECHERT W D, GENCAY R.Lyapunov exponents as a nonparametric diagnostic for stability analysis［J］.Journal of Applied Econometrics, 2010, 7(s1):41-60.

[12] [12] KHALIL H K.Nonlinear systems［M］.3rd ed.Saddle River:Prentice-Hall, Inc, 2002.

[13] [13] ASTROM K J, WITTENMARK B.Adaptive control［J］.Technometrics, 1995, 33(4):72-89.