@ARTICLE{brescianini2018attitude, 
author={D. Brescianini and R. D'Andrea}, 
journal={IEEE Transactions on Control Systems Technology}, 
title={Tilt-Prioritized Quadrocopter Attitude Control}, 
year={2018}, 
volume={}, 
number={}, 
pages={1-12}, 
keywords={Aerial robotics;attitude control;control allocation;nonlinear control;quadrocopter.}, 
doi={10.1109/TCST.2018.2873224}, 
ISSN={1063-6536}, 
month={},
}