Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics.

Abhijit Das Frank Lewis Kamesh Subbarao Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics. 127-151 2009 56 Journal of Intelligent and Robotic Systems 1-2 http://dx.doi.org/10.1007/s10846-009-9331-0 db/journals/jirs/jirs56.html#DasLS09