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Decentralized Backstepping Control of a Quadrotor with Tilt..:

Saif, Abdul-Wahid A. ; Aliyu, Abdulrahman ; Dhaifallah, Mujahed Al.
International Journal of Control, Automation and Systems.  16 (2018)  5 - p. 2458-2472 , 2018
Link: https://doi.org/10.1007/s12555-017-0099-x