[2] WITT J,BOONTO S,WERNER H.Approximate model predictive control of a 3-DOF helicopter［C］//The 46th IEEE Conference on Decision and Control,2007:4501-4506.

[4] ZHENG B,ZHONG Y S.Robust attitude regulation of a 3-DOF helicopter benchmark:theory and experiments［J］.IEEE Transactions on Industrial Electronics,2011, 58(2):660-670.

[5] LEE D J,BANG H.Reinforcement learning based neuro-control systems for an unmanned helicopter［C］//International Control Conference on Automation and Systems, 2010:2537-2540.

[9] SPONG M W.The swing up control problem for the Acrobot［J］.IEEE Control Systems Magazine,1995,15(1):49-55.

[10] CASTAEDA H,PLESTAN F,CHRIETTE A,et al.Continuous differentiator based on adaptive second-order sliding-mode control for a 3-DOF helicopter［J］.IEEE Transactions on Industrial Electronics,2016,63(9):5786-5793.

[13] ZHU B,LIU H H T,LI Z.Robust distributed attitude synchronization of multiple three-DOF experimental helicopters［J］.Control Engineering Practice,2015,36:87-99.