Control of a cylindrical PVTOL vehicle: global non-linear velocity tracking control considering aerodynamics. - Rohin Wood; Ben Cazzolato; Dunant Halim (Int. J. Control, 2007)

An Alternative Nonlinear Control Law for the Global Stabilization of the PVTOL Vehicle. - Rohin Wood; Ben Cazzolato (IEEE Trans. Autom. Control., 2007)