Robust Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles using Inner-Outer Loop Control Paradigms. Naldi, R., Furci, M., Sanfelice, R. G., & Marconi, L. IEEE Transactions on Automatic Control, 62(1):97-112, January, 2017.
bibtex   
@article {152,
	title = {Robust Global Trajectory Tracking for Underactuated {VTOL} Aerial Vehicles using Inner-Outer Loop Control Paradigms},
	journal = {IEEE Transactions on Automatic Control},
	volume = {62},
	number = {1},
	year = {2017},
	month = {January},
	pages = {97-112},
	chapter = {97},
	author = {R. Naldi and M. Furci and R. G. Sanfelice and L. Marconi}
}

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