Robust dynamic inversion control for quad-rotors unmanned vehicle based on sliding mode disturbance observation and compensation
CHEN Cheng, WEI Changzhu, JU Xiaozhe, LIU Pengyun
Systems Engineering and Electronics . 2018, (1): 119 -126 .  DOI: 10.3969/j.issn.1001-506X.2018.01.18