[1] JIA Z Y, YU J Q, MEI Y S, et al.Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances［J］.Aerospace Science and Technology, 2017, 68:299-307.

[2] QASIM M, SUSANTO E, WIBOWO A S.PID control for attitude stabilization of an unmanned aerial vehicle quad-copter［C］//The 5th International Conference on Instrumentation, Control, and Automation (ICA), 2017:109-114.

[3] XIAN B, DIAO C, ZHAO B, et al.Nonlinear robust output feedback tracking control of a quadrotor UAV using quaternion representation［J］.Nonlinear Dynamics, 2015, 79(4):2735-2752.

[5] LABBADI M, CHERKAOUI M.Robust adaptive backstepping fast terminal sliding mode controller for uncertain quadrotor UAV［J］.Aerospace Science and Technology, 2019, 93:105306.

[7] ZHANG Y, CHEN Z Q, SUN M W, et al.Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control［J］.Nonlinear Analysis:Modelling and Control, 2019, 24(4):545-560.

[8] NIU T, XIONG H J, ZHAO S Q.Based on ADRC UAV longitudinal pitching angle control research［C］//IEEE Information Technology, Networking, Electronic and Automation Control Conference, 2016:21-25.

[14] DOU J X, KONG X X, WEN B C.Altitude and attitude active disturbance rejection controller design of a quadrotor unmanned aerial vehicle［J］.Proceedings of the Institution of Mechanical Engineers, Part G:Journal of Aerospace Engineering, 2017, 231(9):1732-1745.

[16] CHEN H, CHEN H Y, XU P.Global fast terminal sliding mode control law design of a quadrotor［C］//International Conference on Computer, Network, Communication and Information Systems, 2019.doi:10.2991/cnci-19.2019.24.