Paper:

# Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter

## Reesa Akbar^{*,**}, Bambang Sumantri^{*,**}, Hitoshi Katayama^{***}, Shigenori Sano^{*}, and Naoki Uchiyama^{*}

^{*}Department of Mechanical Engineering, Toyohashi University of Technology

1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan

^{**}Department of Electrical Engineering, Politeknik Elektronika Negeri Surabaya

Raya ITS, Keputih Sukolilo, Surabaya 60111, Indonesia

^{***}Department of Electrical and Electronic Engineering, Shizuoka University

3-5-1 Johoku, Naka-ku, Hamamatsu 432-8561, Japan

*J. Robot. Mechatron.*, Vol.28, No.3, pp. 304-313, 2016.

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