[1] LU X H,LI J B,LIU W J.A study of complementary filter algorithm for four-rotor helicopters attitude control system［J］.Sensors & Transducers,2014,174(7):298-306.
[3] LUO Z M,ZHANG X X,LIU Z F.Research of modeling and sliding mode advanced control for four rotor aircraft［C］//The 5th International Conference on Instrumentation and Measurement,Computer,Communication and Control,2015:992-996.
[4] AHMAD MIAN A,WANG D B.Modeling and backstepping based nonlinear control strategy for a 6 DOF quadrotor helicopter［J］.Chinese Joumal of Aeronautics,2008,21(3):261-268.
[6] NADDA S,SWARUP A.Development of backstepping based sliding mode control for a quadrotor［C］//International Colloquium on Signal Processing & ITS Applications，2014:10-13.
[7] MADANI T,BENALLEGUE A.Sliding mode observer and backstepping control for a quadrotor unmanned aerial vehicles［C］//Proceedings of the American Control Conference,2007：5887-5892.
[8] YOSHIMURA T.Adaptive discrete sliding mode control for mechanical systems with mismatched uncertainties［J］.Journal of Vibration & Control,2016,16(10):1417-1437.
[10] PENG C，BAI Y，GONG X，et al.Modeling and robust backstepping sliding mode control with adaptive RBFNN for a novel coaxial eight-rotor UAV［J］.IEEE/CAA Journal of Automatica Sinica,2015,2(1):56-64.
[11] LI S H,DU H B,YU X H.Discrete-time terminal sliding mode control systems based on Eulers discretization［J］.IEEE Transactions on Automatic Control,2014,59(2):546-552.
[16] HAO X,LIU T,YANG X,et al.A discrete-time integral sliding-mode controller with nonlinearity compensation for three-phase grid-connected photovoltaic inverter［C］//Power Electronics and Motion Control Conference,2012:831-835.
[17] XU Q S.Output-based discrete-time terminal sliding mode control of piezoelectric nanopositioning system［C］//The 14th International Workshop on Variable Structure Systems,2016:251-256.8.
