Backstepping based nonlinear PI for attitude stabilisation of a quadrotor: From theory to experiment. - Mouloud Bouchoucha; Mohamed Tadjine; Abdelhamid Tayebi 001; Philippe Müllhaupt (IROS, 2008)

Integral Sliding Mode and Second Order Sliding Mode Attitude and Altitude Tracking of a Quadrotor System - Theory and Experiment. - Mouloud Bouchoucha; Abdessamed Boudane; Kamel Ali; Sofiane Seghour (ICINCO (2), 2012)