Least square based sliding mode control for a quad-rotor helicopter. - Bambang Sumantri; Naoki Uchiyama; Shigenori Sano (SII, 2013)

Second order sliding mode control for a quad-rotor helicopter with a nonlinear sliding surface. - Bambang Sumantri; Naoki Uchiyama; Shigenori Sano (CCA, 2014)

Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter. - Reesa Akbar; Bambang Sumantri; Hitoshi Katayama; Shigenori Sano; Naoki Uchiyama (J. Robotics Mechatronics, 2016)