@article{NnAaaa,
	author="G. Michieletto and A. Cenedese and L. Zaccarian and A. Franchi",
	title="Hierarchical non-linear control for multi-rotor asymptotic stabilization based on zero-moment direction",
	journal="Automatica",
	year="2020",
	volume="117",
	note="DOI: https://doi.org/10.1016/j.automatica.2020.108991"
}