Nonlinear control of quadrotor UAV under rotor failure for robust trajectory tracking.

However, \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$g_{r}$$\end{document} may be significant in the case of rotor failure and is therefore included.

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