Stabilization of Tangent and Normal Contact Forces for a Quadrotor subject to Disturbances. - Carlos Izaguirre-Espinosa; Aldo-Jonathan Muñoz-Vázquez; Anand Sánchez-Orta; Vicente Parra-Vega; Rodolgo Garcia-Rodriguez; Pedro Castillo; Daniel Arreguín-Jasso (IROS, 2022)