Arthur H. D. Nunes Guilherme V. Raffo Leonardo A. B. Torres Luciano C. A. Pimenta Robust rigid-body attitude backstepping control. 4349-4355 2024 CDC https://doi.org/10.1109/CDC56724.2024.10886092 conf/cdc/2024 db/conf/cdc/cdc2024.html#NunesRTP24