Robust trajectory linearization control design for unmanned aerial vehicle path following
LI Xue-song, LI Ying-hui, LI Xia, PENG Jian-liang, LI Chao-xu
Journal of Systems Engineering and Electronics . 2012, (4): 767 -772 .  DOI: 10.3969/j.issn.1001-506X.2012.04.23