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Cited article:

Control Optimization of Small-Scale Thrust-Vectoring Vertical/Short Take-Off and Landing Vehicles in Transition Phase

Zheng Gong, Shengcheng Mao, Zian Wang, Zan Zhou, Chengchuan Yang and Zhengxue Li
Drones 6 (5) 129 (2022)
https://doi.org/10.3390/drones6050129