A control law redesign for pivoted unidirectional actuators recovers practical tracking performance from an unconstrained robust baseline controller.
Geometric Tracking Control of a Quadrotor UA V for Extreme Maneuverability,
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Practical Universal Tracking With Pivoted Unidirectional Actuation
A control law redesign for pivoted unidirectional actuators recovers practical tracking performance from an unconstrained robust baseline controller.