[1] [1] ALOTHMAN Y, JASIM W, GU D B. Quad-rotor lifting-transporting cable-suspended payloads control［C］//International Conference on Automation and Computing, IEEE, 2015: 1-6.

[2] [2] AJMERA J, SANKARANARAYANAN V.Trajectory tracking control of a quadrotor［C］//International Conference on Control Communication and Computing, India, IEEE, 2015:48-53.

[4] [4] YACEF F, BOUHALI O, HAMERLAIN M, et al. Observer-based adaptive fuzzy backstepping tracking control of quadrotor unmanned aerial vehicle powered by li-ion battery［J］. Journal of Intelligent & Robotic Systems, 2016, 84(1):179-197.

[6] [6] JIA Z, YU J, MEI Y, et al. Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances［J］. Aerospace Science & Technology, 2017, 20(10): 1079-1096.

[8] [8] SLAWINSKI E, SANTIAGO D, MUT V, et al. Control for delayed bilateral teleoperation of a quadrotor［J］. ISA Transactions, 2017: 415-425.

[10] [10] LU H, LIU C, COOMBES M, et al. Online optimisation-based backstepping control design with application to quadrotor［J］.IET Control Theory and Applications, 2016, 10(14): 1601-1611.

[12] [12] DINH T X, AHN K K.Adaptive tracking control of a quadrotor unmanned vehicle［J］. International Journal of Precision Engineering & Manufacturing, 2017, 18(2):163-173.

[13] [13] CHOI Y C, AHN H S. Nonlinear control of quadrotor for point tracking:actual implementation and experimental tests［J］. IEEE/ASME Transactions on Mechatronics, 2015, 20(3): 1179-1192.

[14] [14] RAFFO G V, ORTEGA M G, RUBIO F R. Robust nonlinear control for path tracking of a quad-rotor helicopter［J］. Asian Journal of Control, 2015, 17(1): 142-156.