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Trajectory tracking control for a quadrotor helicopter based on backstepping using a decoupling quaternion parametrization

Paul De Monte, Boris Lohmann. Trajectory tracking control for a quadrotor helicopter based on backstepping using a decoupling quaternion parametrization. In 21st Mediterranean Conference on Control and Automation, Platanias, Chania, Crete, Greece, June 25-28, 2013. pages 507-512, IEEE, 2013. [doi]

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