@ARTICLE{9138676,
  author={Anderson, Robert B. and Marshall, Julius A. and L’Afflitto, Andrea},
  journal={IEEE Transactions on Aerospace and Electronic Systems}, 
  title={Constrained Robust Model Reference Adaptive Control of a Tilt-Rotor Quadcopter Pulling an Unmodeled Cart}, 
  year={2021},
  volume={57},
  number={1},
  pages={39-54},
  keywords={Mathematical model;Trajectory tracking;Propellers;Payloads;Uncertainty;Aircraft;Vehicle dynamics;Constrained feedback control synthesis;robust model reference adaptive control;sling payload;tilt-rotor quadcopter},
  doi={10.1109/TAES.2020.3008575}}