Comparison of various quaternion-based control methods applied to quadrotor with disturbance observer and position estimator

@article{Chovancova2016ComparisonOV,
  title={Comparison of various quaternion-based control methods applied to quadrotor with disturbance observer and position estimator},
  author={Anezka Chovancova and Tomas Fico and Peter Hubinsk{\'y} and Frantisek Duchon},
  journal={Robotics and Autonomous Systems},
  year={2016},
  volume={79},
  pages={87-98}
}