Position controller
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Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor: http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.149.4367&rep=rep1&type=pdf
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How to implement and code inner and outer PD controllers for quadrotor for position tracking: https://robotics.stackexchange.com/questions/7235/how-to-implement-and-code-inner-and-outer-pd-controllers-for-quadrotor-for-posit/7348#7348 and https://robotics.stackexchange.com/questions/7288/linear-motion-control-for-quadrotor-clarification/7296#7296 Related question
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Position Controller for a Quadrotor: https://robotics.stackexchange.com/questions/4675/position-controller-for-a-quadrotor
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