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The trajectory tracking problem for an unmanned four-rotor system: flatness-based approach

Carlos Aguilar Ibáñez, Hebertt Sira-Ramírez, Miguel Suárez-Castañón, Edgar Martínez-Navarro, Marco A. Moreno-Armendáriz. The trajectory tracking problem for an unmanned four-rotor system: flatness-based approach. Int. J. Control, 85(1):69-77, 2012. [doi]

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