Namhoon Cho, Jongho Park, Youdan Kim, and Hyo-Sang Shin, “Unified Control Parametrization Approach for Finite-Horizon Feedback Control with Trajectory Shaping,” IEEE Transactions on Aerospace and Electronic Systems, Volume 58, No. 5, 2022, pp. 4782-4795.
doi: https://doi.org/10.1109/TAES.2022.3160990
