Backstepping sliding mode tracking control of quad-rotor under input saturation

@article{Gong2012BacksteppingSM,
  title={Backstepping sliding mode tracking control of quad-rotor under input saturation},
  author={Xun Gong and Yue Bai and Zhicheng Hou and Changjun Zhao and Yantao Tian and Qiang Sun},
  journal={Int. J. Intelligent Computing and Cybernetics},
  year={2012},
  volume={5},
  pages={515-532}
}