Peng Cheng Chenxiao Cai PooGyeon Park Robust Attitude Fault Tolerant Control of UAV With Input Saturation and Uncertainties. 1946-1951 2022 ASCC https://doi.org/10.23919/ASCC56756.2022.9828147 conf/ascc/2022 db/conf/ascc/ascc2022.html#ChengCP22