1BOUABDELLAH S, SIEGWART R. Backstepping and sliding mode techniques applied to an indoor micro quadrotor[C]//Proceeding of the 2005 IEEE, ICRA, Barcelona, Spain, April, 2005:432-437.
2MOKHTARI A, BENALLEGUE A, BELAIDI A. Polynomial linear quadratic Gaussian and sliding mode observer for a quadrotor unmanned aerial vehicle[J]. Journal of Robotics and Mechatronics, 2005,17(4): 43-47.
3BOUADI H, BOUCHOUCHA M, TADJINE M. Sliding Mode Control based on Backstepping[J]. International Journal of Applied Mathematics and computer Sciences, 2008,4(1): 12-17.
4BENCHAIB A, BOUDJEMA F, RACHID A. Sliding mode flux observer based on backstepping approach for induction motor[C]//World Automation Congress WAC'98, Alaska, USA, 1998:1024-1029.
5Tayebi A,McGilvray S. Attitude stabilization of a four-rotor aerial robot [J]. 43rd Conference on Decision and Control, 2005(12):1216-1221.
6Phillip M. Modelling the draganflyer four-rotor helicopter[J]. Proceeding of the 2004 IEEE Internation Conference on Robotics&Automation, 2004 (13) :3596-3601.
7Hoffmann G M. Quadrotor helicopter flight dynamics and control:theory and experiment [C]//Navigation and Control Conference and Exhibit,2007:235-255.