# The Cubli: Modeling and Nonlinear Attitude Control Utilizing Quaternions

> Research article (IEEE Access, 2021) · cited 11× · AI/ML

**Wikidata**: [openalex:W3198616169](https://www.wikidata.org/wiki/openalex:W3198616169)  
**Source**: https://4ort.xyz/entity/the-cubli-modeling-and-nonlinear-attitude-control-utilizing-quaternions