Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A semi-global model-based state estimator for the quadrotor using only
  inertial measurements   We propose a nonlinear observer to estimate the state (orientation and
in-plane velocity vector) of the quadrotor, based on a drag-force-enhanced
model. It is an alternative to recent works using a similar model together with
an Extended Kalman Filter (EKF). But while enjoying the benefits of an enhanced
model, it does not have the usual drawbacks of an EKF: indeed, the
computational cost is much lower, the tuning is easier, and above all the
guaranteed domain of convergence is very large.

21
The categories of this paper are: adap-org
20
The categories of this paper are: acc-phys
33
The categories of this paper are: plasm-ph
35
The categories of this paper are: mtrl-th
31
The categories of this paper are: ao-sci
3
The categories of this paper are: physics
0
The categories of this paper are: hep-ph
28
The categories of this paper are: alg-geom
24
The categories of this paper are: dg-ga
30
The categories of this paper are: q-alg
11
The categories of this paper are: hep-lat
16
The categories of this paper are: stat
27
The categories of this paper are: comp-gas
36
The categories of this paper are: cmp-lg
13
The categories of this paper are: quant-ph
9
The categories of this paper are: nlin