The Cubli: Modeling and Nonlinear Control Utilizing Unit Complex Numbers. - Fabio Bobrow; Bruno A. Angelico; Paulo S. P. da Silva (CoRR, 2020)

The Cubli: Modeling and Nonlinear Attitude Control Utilizing Quaternions. - Fabio Bobrow; Bruno A. Angelico; Flavius Portella Ribas Martins; Paulo S. P. da Silva (IEEE Access, 2021)