Model-based optimal attitude and positioning control of small-scale unmanned helicopter.

Jinok Shin Kenzo Nonami Daigo Fujiwara Kensaku Hazawa Model-based optimal attitude and positioning control of small-scale unmanned helicopter. 51-63 2005 23 Robotica 1 http://dx.doi.org/10.1017/S026357470400092X db/journals/robotica/robotica23.html#ShinNFH05