@ARTICLE{Zeghlache_Samir_Backstepping_2012, author={Zeghlache, Samir and Saigaa, Djamel and Kara, Kamel and Harrag, Abdelghani and Bouguerra, Abderrahmen}, number={No 3}, journal={Archives of Control Sciences}, howpublished={online}, year={2012}, publisher={Committee of Automatic Control and Robotics PAS}, title={Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter}, URL={http://www.czasopisma.pan.pl/Content/84244/PDF/5.pdf}, doi={10.2478/v10170-011-0027-x}, }