动态逆控制器用来对消无人机的非线性，在线神经网络补偿对消不精确引起的状态误差。
The dynamic inversion controller is used to eliminate the nonlinearity and the online neural net is used to compensate the state error caused by the elimination imprecision.
自抗绕控制器由三部分组成：跟踪微分器、扩张状态观测器和非线性状态误差反馈控制律。
The auto-disturbance rejection controller is composed of three parts: tracking-differentiator, extended state observer and nonlinear state error feedback control law.
LQR算法是在特定白勺性能指标下，利用最少白勺控制能量，来到达最小白勺状态误差。
LQR algorithm USES the least control energy under certain performance index to achieve the smallest state errors.
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