# Disturbance observer based hierarchical control of coaxial-rotor UAV

> Research article (ISA Transactions, 2017) · cited 89× · AI/ML

**Wikidata**: [openalex:W2582982625](https://www.wikidata.org/wiki/openalex:W2582982625)  
**Source**: https://4ort.xyz/entity/disturbance-observer-based-hierarchical-control-of-coaxial-rotor-uav