基于有限时间姿态控制算法的四旋翼飞行器悬停控制

朱文武，都海波

Hovering Control of a Quadrotor Aircraft Based on Finite Time Attitude Control Algorithm

ZHU Wenwu,DU Haibo

系统科学与数学 . 2017, (4): 986 -1000 . DOI: 10.12341/jssms13135