L1 fault tolerant adaptive control of a hexacopter with control degradation. - Maximilian Mühlegg; Philipp Niermeyer; Guillermo P. Falconi; Florian Holzapfel (CCA, 2015)

Onboard multi-rate tube model predictive position control for a hexacopter: From design to outdoor flight experiments. - Philipp Niermeyer; Markus Herb; Boris Lohmann (ICAT, 2017)