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Quadrotor Altitude Control Based on Sliding Mode Control:

Cano-González, José Angel ; Salas-Peña, Oscar ; Gutierrez, Susana V..
Iranian Journal of Science and Technology, Transactions of Electrical Engineering.  45 (2020)  2 - p. 543-551 , 2020
Link: https://doi.org/10.1007/s40998-020-00376-8