This document is reference [14] cited in the paper:
S. Zhao, W. Dong, and J. A. Farrell, "Quaternion-based Trajectory Tracking Control of VTOL-UAVs using Command Filtered Backstepping," American Control Conference, pp. 1018-1023, June 2013. DOI: 10.1109/ACC.2013.6579970.
This technical report contains more details than the conference paper. Please cite the ACC paper rather than this technical report.
