Design and flight testing of a gain-scheduled H∞ loop shaping controller for wide-envelope flight of a robotic helicopter. - Marco La Civita; George Papageorgiou; William C. Messner; Takeo Kanade (ACC, 2003)

Integrated modeling and robust control for full-envelope flight of robotic helicopters. - Marco La Civita; George Papageorgiou; William C. Messner; Takeo Kanade (ICRA, 2003)