Linear control design, allocation, and implementation for the Omnicopter MAV. - Yangbo Long; David J. Cappelleri (ICRA, 2013)

Complete dynamic modeling, control and optimization for an over-actuated MAV. - Yangbo Long; David J. Cappelleri (IROS, 2013)

Modeling and global trajectory tracking control for an over-actuated MAV. - Yangbo Long; Lu Wang; David J. Cappelleri (Adv. Robotics, 2014)