A low-cost hardware-in-the-loop-simulation testbed of quadrotor UAV and implementation of nonlinear control schemes

Bin Xian, Bo Zhao, Yao Zhang, Xu Zhang. A low-cost hardware-in-the-loop-simulation testbed of quadrotor UAV and implementation of nonlinear control schemes. Robotica, 35(3):588-612, 2017. [doi]

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