说明：  仿真来源：Quaternion-Based Robust Attitude Control for Uncertain Robotic Quadrotors ，IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS。针对四旋翼飞行器系统设计鲁棒控制系统，能够较好的应对干扰和模型不确定性，算法简单，可进行实际环境试验
(Source of simulation: quaternion based robot attitude control for unknown robot quadrors,IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS.The robust control system is designed for quadrotor aircraft system, which can better deal with the disturbance and model uncertainty. The algorithm is simple and can be used in actual test.)