# Scheduling PID Attitude and Position Control Frequencies for Time-Optimal Quadrotor Waypoint Tracking under Unknown External Disturbances

> Research article (Sensors, 2021) · cited 14× · AI/ML

**Wikidata**: [openalex:W4200093198](https://www.wikidata.org/wiki/openalex:W4200093198)  
**Source**: https://4ort.xyz/entity/scheduling-pid-attitude-and-position-control-frequencies-for-time-optimal-quadrotor-waypoint-tracking-under-unknown-exte