5Zhang R, Quan Q, Cai K Y. Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances [ J ]. IET Control Theory and Applications, 2011,5 ( 9 ) : 1140 - 1146.
6Zuo Z. Trajectory tracking control design with command-fil- tered compensation for a quadrotor[ J ]. IET Control Theory and Applications, 2010,4 ( 11 ) :2343 - 2355.
7Gonzalez I, Salazar S, Lozano R, et al. Real-time altitude ro- bust controller for a quad-rotor aircraft using sliding-mode control technique[ C]//2013 International Conference on Unmanned Aircraft Systems. 2013:650 -659.
8Masahiro O,Chinthaka P,Kiyotaka K.Development of an air-ground operational robot and its fundamental controlling approach. Proc of The 7th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems . 2014
