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Explicit Model Predictive Cascade-Free Direct Force and Torque Control of Quadrotors

Mengyuan Zhao, Shiyu Lin, Yanfei Cao, Zhanqing Zhou, Tingna Shi, Changliang Xia. Explicit Model Predictive Cascade-Free Direct Force and Torque Control of Quadrotors. IEEE Transactions on Industrial Electronics, 71(4):3441-3451, April 2024. [doi]

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