中文说明： 这是根据 《四旋翼无人机鲁棒自适应姿态控制》这篇论文做的MATLAB程序，对照论文，完全可以把仿真搞懂， 较适合做控制的初学者
English Description：
This is based on the "four-rotor UAV robust adaptive attitude control," the paper do MATLAB program control paper, can get to know the simulation, the more suitable for beginners control.