[1] Office of the Secretary of Defense. Unmanned aerial roadmap 2002—2027 ［R］.Washington, DC 20301: Office of the Secretary of Defense, 2002.

[2] KIS L, LANTOS B. Quadrotor control based on partial sensor data ［C］. Proceedings of the 19th International Workshop on Robotics in Alpe-Adria-Danube Region, Budapest, 2010.

[3] SHARIFI F, MIRZAEI M, GORDON B W, et al.. Fault tolerant control of a quadrotor UAV using sliding mode control ［C］. Proceeding of the 2010 Conference on Control and Fault Tolerant Systems, Nice, 2010.

[4] CASTILLO P, LOZANO R, DZUL A. Stabilization of a mini rotorcraft with four rotors ［J］.IEEE Control Systems Magazine, 2005, 25(6): 45-55.

[5] DAS A, SUBBARAO K, LEWIS F. Dynamic inversion with zero-dynamics stabilization for quad-rotor control ［J］.IET Control Theory Applications, 2009, 3(3): 303-314.

[6] ZUO Z. Trajectory tracking control design with command-filtered compensation for a quadrotor ［J］. IET Control Theory Applications, 2010, 4(11): 2343-2355.

[7] CHEN X J, LI D, BAI Y, et al.. Application of type-II fuzzy neural network to adaptive double axis motion control system ［J］. Opt.Precision Eng., 2011, 19(7): 1643-1650.(in Chinese)

[8] CHEN X J, LI D, BAI Y, et al.. Application of type-II fuzzy neural network to adaptive double axis motion control system ［J］. Opt.Precision Eng., 2011, 19(7): 1643-1650. (in Chinese)

[9] HOU Z C, GONG X, BAI Y, et al.. Robust trajectory tracking control of autonomous quad-rotor UAV based on double loop frame［C］.Key Engineering Materials, 2011: 1421-1426.

[10] GONG X, BAI Y, ZHAO CH J, et al..Novel Hex-Rotor aircraft and its autonomous flight control system ［J］.Opt.Precision Eng., 2012, 20(11): 1995-2002. (in Chinese)

[11] NORDKVIST N, SANYAL A. A Lie group variational integrator for rigid body motion in SE(3) with applications to under-water vehicle dynamics［C］. Proceedings of the 49th IEEE Conference on Decision and Control, 2010: 5414-5419.

[12] LEE T, LEOK M, MCCLAMROCH N H. Geometric tracking control of a quadrotor UAV on SE(3) ［C］. Proceedings of the 49th IEEE Conference on Decision and Control, 2010: 5420-5425.

[13] WANG X X, LIANG Y, PAN Q, et al..Unscented kalman filter for nonlinear systems with colored measurement noise ［J］.Acta Automatica Sinica, 2012, 38(6):986-998. (in Chinese)