[6] RINALDI F, GARGIOLI A, QUAGLIOTTI F.PID and LQ regulation of a multirotor attitude:mathematical modelling, simulations and experimental results ［J］.Journal of Intelligent & Robotics Systems, 2014, 73(1-4):33-50.

[14] DUAN H B, LUO Q N, SHI Y H, et al.Hybrid particle swarm optimization and genetic algorithm for multi-UAV formation reconfiguration［J］.IEEE Computational Intelligence Magazine, 2013, 8(3): 16-27.