Backstepping control of a quadrotor unmanned aerial vehicle based on multi-rate sampling
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This work was supported by National Natural Science Foundation of China (Grant Nos. 61503292, 61673308, 61673014), Natural Science Foundation of Shaanxi Province (Grant Nos. 2018JM6079, 2018JM6026), Fundamental Research Funds for the Central Universities (Grant No. JB181305), and Innovation Fund of Xidian University.