# Quadcopter Trajectory Tracking in the Presence of 4 Faulty Actuators: A Nonlinear MHE and MPC Approach

> Research article (IEEE Control Systems Letters, 2021) · cited 18× · AI/ML

**Wikidata**: [openalex:W4205569666](https://www.wikidata.org/wiki/openalex:W4205569666)  
**Source**: https://4ort.xyz/entity/quadcopter-trajectory-tracking-in-the-presence-of-4-faulty-actuators-a-nonlinear-mhe-and-mpc-approach