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4
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1634
J
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ttp
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A
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ntrol t
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a
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e
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ix
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V
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te
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.
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o
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le
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c
tu
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m
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ro
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se
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t.
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201
8
In
s
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C
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uth
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1
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5
T
ay
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g
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N
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Viet
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m
.
E
m
ail: d
aib
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tl
u
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u
.
v
n
1.
I
NT
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D
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m
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tech
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ate
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wh
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n
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er
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lo
b
e,
p
r
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f
o
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th
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cr
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s
er
v
ices.
Mo
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t
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tec
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n
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Mic
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ch
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/co
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f
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tech
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p
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k
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ize
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ap
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licatio
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cr
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t in
th
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Mi
n
iat
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A
er
ia
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Veh
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s
(
M
A
V)
f
ield
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n
cr
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ed
.
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,
th
e
r
esear
ch
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M
AV
is
t
h
e
in
ter
esti
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g
to
p
ic
in
th
e
w
o
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ld
[
1
]
,
[
2
]
.
T
h
e
MA
V
is
a
s
m
all
u
n
it
w
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ic
h
is
d
r
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n
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co
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itio
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l
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it
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t th
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p
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o
n
i
n
s
id
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f
li
g
h
t o
n
th
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ae
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ial
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s
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g
th
e
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to
r
th
r
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s
t
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v
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MA
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s
th
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-
co
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atic
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n
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is
b
ea
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in
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th
e
w
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t
f
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an
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s
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m
is
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io
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o
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ar
e
in
ter
ce
p
t,
b
attle
d
a
m
ag
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a
s
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es
s
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en
t,
tar
g
et
ac
q
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i
s
itio
n
,
s
u
r
v
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lan
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e,
w
ea
t
h
er
r
ec
o
n
n
ais
s
an
ce
,
a
n
d
ev
en
at
tack
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e
tar
g
et
s
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ir
ec
tl
y
w
i
th
th
e
h
i
g
h
-
q
u
alit
y
f
ea
t
u
r
es.
I
n
th
e
p
r
ev
io
u
s
ti
m
e,
t
h
e
MA
V
is
u
s
ed
o
n
l
y
f
o
r
th
e
v
er
tical
tak
eo
f
f
an
d
lan
d
in
g
(
VT
OL
)
u
n
i
t,
s
o
th
e
ab
ilit
y
to
ap
p
l
y
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n
p
r
ac
tice
is
l
ess
.
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w
e
v
er
,
th
e
ad
v
a
n
tag
e
s
tu
d
ies
o
n
VT
OL
M
A
V
[
3
]
-
[
5
]
p
r
o
v
e
th
at
VT
OL
MA
V
ca
n
b
e
l
an
d
ed
an
d
tak
en
o
f
f
in
d
ep
en
d
en
t
l
y
,
f
lo
w
n
i
n
th
e
d
if
f
er
e
n
t
en
v
ir
o
n
m
e
n
ts
,
f
lo
w
n
b
esid
e,
f
lo
w
n
b
ac
k
,
f
lo
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n
f
o
r
w
ar
d
,
etc.
T
h
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ad
v
an
ta
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es
m
ak
e
t
h
e
ap
p
licatio
n
o
f
VT
OL
M
A
V
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s
m
o
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d
ev
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T
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n
e
w
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tr
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ct
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a
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la
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u
ad
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h
av
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b
ee
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p
r
o
p
o
s
ed
in
[
6
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-
[
8
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,
ca
lled
Qu
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-
r
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to
r
MA
V
w
it
h
th
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f
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So
,
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Qu
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w
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ac
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le
-
r
o
to
r
.
Q
u
ad
-
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r
M
A
V
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n
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I
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Min
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1635
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[
9
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[
1
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.
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MA
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ea
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p
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ad
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1
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I
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u
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ilt ac
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Fig
u
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ad
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I
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P
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w
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Dr
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T
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ig
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r
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r
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Fig
u
r
e
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l stru
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T
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en
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le
l
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t
r
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c
tu
r
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e
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o
s
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ti
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s
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d
t
h
e
R
o
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l
(
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t
ch
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aw
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a
n
g
l
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c
o
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a
d
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U
b
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t
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k
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h
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6
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s
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n
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ls
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l
e
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c
o
n
t
r
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l
s
t
r
u
c
tu
r
e
.
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h
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l
e
o
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th
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i
s
p
l
ay
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l
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ck
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s
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l
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it
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at
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d
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g
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o
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a
t
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(
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, θ, ψ
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o
f
th
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o
n
t
r
o
l
s
y
s
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em
.
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h
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c
o
n
t
r
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l
b
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ck
is
s
h
o
w
n
i
n
d
e
t
a
i
l
a
s
F
ig
u
r
e
8
.
T
h
e
r
o
l
e
o
f
th
e
p
o
s
i
ti
o
n
c
o
n
t
r
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l
b
l
o
ck
is
c
o
n
t
r
o
ll
in
g
t
h
e
x
,
y
,
z
c
o
o
r
d
in
a
t
es
,
w
ith
th
e
i
n
p
u
t
s
ig
n
a
ls
a
r
e
I
n
1
a
n
d
I
n
2
.
I
n
1
i
s
th
e
d
e
s
i
r
e
d
v
alu
e
s
o
f
x
,
y
,
z
c
o
o
r
d
i
n
a
t
es
an
d
I
n
2
a
r
e
th
e
r
e
a
l
v
a
lu
es
o
f
x
,
y
,
z
c
o
o
r
d
in
a
t
es
f
r
o
m
th
e
s
en
s
o
r
.
T
h
e
r
o
l
e
o
f
th
e
t
r
an
s
it
i
o
n
b
l
o
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s
c
a
lc
u
l
a
t
in
g
th
e
a
n
g
l
es
c
o
o
r
d
i
n
a
t
es
(
ϕ
,
θ
,
ψ
)
.
T
h
e
r
o
l
e
o
f
th
e
at
t
it
u
d
e
c
o
n
t
r
o
l
b
l
o
c
k
is
c
o
n
t
r
o
l
l
in
g
th
e
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g
l
es
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o
r
d
i
n
a
t
es
,
w
it
h
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1
i
s
th
e
d
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i
r
e
d
v
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lu
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o
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o
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f
r
o
m
th
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t
r
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n
s
it
i
o
n
b
l
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ck
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I
n
2
is
th
e
r
e
a
l
v
a
lu
e
s
o
f
an
g
l
e
c
o
o
r
d
i
n
a
t
es
f
r
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m
t
h
e
s
e
n
s
o
r
.
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h
e
r
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le
o
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e
in
v
e
r
s
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o
n
b
l
o
c
k
is
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o
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g
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t
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t
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o
u
r
r
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o
r
s
Ω
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2
, Ω
3
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Ω
4
.
Fig
u
r
e
8
.
C
o
n
tr
o
l b
lo
ck
s
i
n
th
e
d
o
u
b
le
lo
o
p
co
n
tr
o
l stru
ctu
r
e
4.
T
H
E
S
I
M
UL
AT
I
O
N
R
E
SU
L
T
S AN
D
ANA
L
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I
S
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e
ex
ec
u
te
t
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n
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w
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es.
T
h
e
f
ir
s
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ca
s
e
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ct
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n
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o
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t
h
e
h
ei
g
h
t
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z
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ll
(
ϕ
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y
a
w
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ψ
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co
o
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d
in
ates.
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h
e
s
ec
o
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e
is
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1634
–
1
6
4
3
1640
lo
o
p
s
tr
u
ctu
r
e
co
n
tr
o
l,
th
e
co
n
tr
o
l
s
ig
n
al
s
ar
e
t
h
e
x,
y
z
p
o
s
it
io
n
co
o
r
d
in
ates
a
n
d
t
h
e
R
o
ll
(
ϕ
)
,
P
itch
(
θ
)
,
Ya
w
(
ψ
)
an
g
le
co
o
r
d
in
ates.
4
.
1
.
I
n t
he
ca
s
e
o
f
s
ing
le
lo
o
p str
uct
ure
Af
ter
m
an
y
e
x
p
er
i
m
e
n
tal
s
t
u
d
ies,
th
e
p
ar
a
m
e
ter
v
al
u
es
o
f
t
h
e
P
I
D
co
n
tr
o
ller
f
o
r
th
e
h
e
ig
h
t
(
z
)
,
r
o
ll
(
ϕ
)
,
p
itch
(
θ
)
an
d
y
a
w
(
ψ
)
co
o
r
d
in
ates
ar
e
s
h
o
w
n
i
n
T
ab
le
1
.
T
h
en
,
w
e
te
s
t
t
h
e
ab
il
it
y
o
f
Q
u
ad
-
r
o
to
r
to
f
l
y
in
s
p
ac
e
w
it
h
t
h
e
in
itial a
n
g
le
s
(
ϕ
, θ, ψ
)
is
(
0
.
2
,
0
.
2
,
0
.
5
)
r
ad
.
T
h
e
s
i
m
u
latio
n
r
e
s
u
lts
ar
e
s
h
o
w
n
in
F
i
g
u
r
e
9
.
T
ab
le
1
.
T
h
e
s
in
g
le
lo
o
p
co
n
tr
o
l stru
ctu
r
e
p
ar
a
m
eter
s
Kp
Ki
Kd
H
e
i
g
h
t
2
4
.
1
5
.
9
2
0
.
2
R
o
l
l
0
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8
0
0
0
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2
0
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i
t
c
h
0
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8
0
0
0
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2
0
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a
w
0
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3
9
0
.
1
9
0
.
1
9
Fig
u
r
e
9
.
T
h
e
s
i
m
u
la
tio
n
r
es
u
l
ts
o
f
t
h
e
s
i
n
g
le
lo
o
p
co
n
tr
o
l stru
ctu
r
e:
(
a)
R
e
s
p
o
n
s
e
o
f
z
; (
b
)
R
esp
o
n
s
e
o
f
R
o
ll;
(
c)
R
esp
o
n
s
e
o
f
P
itch
; (
d
)
R
es
p
o
n
s
e
o
f
Ya
w
T
h
e
s
i
m
u
latio
n
r
es
u
lts
s
h
o
w
t
h
at
th
e
i
n
itia
l
an
g
les
ar
e
n
o
t
b
alan
ce
d
,
af
ter
co
n
tr
o
llin
g
(
af
ter
th
e
3
r
d
s
ec
o
n
d
)
,
th
e
an
g
le
co
o
r
d
in
ates
(
ϕ
,
θ,
ψ
)
ar
e
b
ala
n
ce
d
w
it
h
th
e
v
al
u
e
s
(
0
,
0
,
0
)
.
T
h
e
h
ei
g
h
t
co
o
r
d
in
ate
(
z
)
r
ea
ch
es
eq
u
ilib
r
iu
m
at
t
h
e
h
ei
g
h
t
o
f
0
.
5
m
.
Af
ter
t
h
e
tr
an
s
i
ti
o
n
ti
m
e,
all
co
o
r
d
in
ates
h
a
v
e
g
o
o
d
eq
u
ilib
r
iu
m
,
it
is
co
n
f
ir
m
ed
t
h
at
th
e
co
n
tr
o
l st
r
u
ctu
r
e
w
o
r
k
s
w
ell
an
d
e
f
f
ic
ie
n
tl
y
.
4
.
2
.
I
n t
he
ca
s
e
o
f
do
ub
le
lo
o
p str
uct
ure
I
n
th
e
d
o
u
b
le
lo
o
p
s
tr
u
ctu
r
e
co
n
tr
o
l,
w
e
s
et
t
h
e
p
ar
a
m
et
er
v
alu
es
o
f
t
h
e
P
I
D
co
n
tr
o
l
ler
f
o
r
th
e
p
o
s
itio
n
co
o
r
d
in
ates
(
x,
y,
z
)
an
d
r
o
ll
(
ϕ
)
,
p
itch
(
θ
)
,
y
a
w
(
ψ
)
c
o
o
r
d
in
ates
as
in
T
ab
le
2
.
R
u
n
n
in
g
t
h
e
Q
u
ad
-
r
o
to
r
f
l
y
f
r
o
m
th
e
p
o
s
itio
n
co
o
r
d
in
ates
(
x,
y,
z
)
=(
0
,
0
,
0
)
to
(
0
.
1
,
0
.
1
,
1
)
m
,
an
d
t
h
e
an
g
u
lar
co
o
r
d
in
ates
(
ϕ
,θ,ψ
)
ch
an
g
e
t
h
e
d
esire
d
v
alu
e
f
r
o
m
(
0
,
0
,
0
)
t
o
(
0
.
1
,
0
.
1
,
1
)
r
a
d
,
th
e
s
i
m
u
l
atio
n
r
esu
lts
ar
e
s
h
o
w
n
in
th
e
F
ig
u
r
e
1
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2088
-
8
694
A
S
u
ita
b
le
S
tr
u
ctu
r
e
to
C
o
n
tr
o
l th
e
S
ystem
o
f Q
u
a
d
-
r
o
t
o
r
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ia
tu
r
e
A
eria
l V
eh
icles (
V
a
n
-
Da
i B
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1641
T
ab
le
2
.
T
h
e
d
o
u
b
le
lo
o
p
co
n
t
r
o
l stru
ctu
r
e
p
ar
a
m
eter
s
Kp
Ki
Kd
X
0
.
0
7
8
0
.
0
0
0
9
0
.
3
9
Y
0
.
0
7
8
0
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0
0
0
9
0
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3
9
Z
2
4
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1
5
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9
2
0
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1
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o
l
l
0
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6
9
0
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0
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1
3
P
i
t
c
h
0
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6
9
0
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0
0
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1
3
Y
a
w
0
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0
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9
0
.
0
0
9
0
.
1
9
Fig
u
r
e
1
0
.
T
h
e
s
i
m
u
latio
n
r
es
u
lts
o
f
d
o
u
b
le
lo
o
p
co
n
tr
o
l str
u
ctu
r
e:
(
a)
R
e
s
p
o
n
s
e
o
f
R
o
ll;
(
b
)
R
esp
o
n
s
e
o
f
P
itch
; (
c)
R
es
p
o
n
s
e
o
f
Ya
w
; (
d
)
R
esp
o
n
s
e
o
f
x
; (
e)
R
esp
o
n
s
e
o
f
y
; (
f
)
R
e
s
p
o
n
s
e
o
f
z
T
h
e
s
im
u
l
at
i
o
n
r
e
s
u
l
t
s
in
Fi
g
u
r
e
1
0
s
h
o
w
th
a
t
t
h
e
r
o
l
l
(
ϕ
)
,
p
i
t
c
h
(
θ
)
,
y
aw
(
ψ
)
c
o
o
r
d
in
a
t
es
a
t
t
a
in
t
h
e
d
e
s
i
r
e
d
c
o
o
r
d
i
n
a
t
es
af
t
e
r
a
b
o
u
t
4
s
e
c
o
n
d
s
,
th
e
p
o
s
i
t
i
o
n
c
o
o
r
d
i
n
a
te
s
(
x
,
y
,
z
)
a
tt
a
in
th
e
d
e
s
i
r
e
d
c
o
o
r
d
i
n
a
t
es
af
t
e
r
a
b
o
u
t
1
0
s
e
c
o
n
d
s
.
A
f
t
e
r
th
e
t
r
an
s
i
t
i
o
n
t
im
e
,
al
l
c
o
o
r
d
in
a
te
s
a
r
e
s
t
a
b
le
,
i
t
is
c
o
n
f
i
r
m
e
d
th
a
t
th
e
d
o
u
b
l
e
l
o
o
p
c
o
n
t
r
o
l
s
t
r
u
c
tu
r
e
c
an
c
o
n
t
r
o
l
th
e
Qu
a
d
-
r
o
t
o
r
f
ly
p
o
in
t
-
to
-
p
o
in
t
w
e
l
l
an
d
e
f
f
i
ci
en
t
ly
.
5.
T
H
E
E
XP
E
R
I
M
E
NT
A
L
RE
SUL
T
S
Af
ter
co
n
s
tr
u
ct
in
g
t
h
e
co
n
tr
o
l
s
tr
u
ct
u
r
e
f
o
r
Qu
ad
-
r
o
to
r
an
d
d
ef
in
i
n
g
t
h
e
co
n
tr
o
l
p
ar
a
m
eter
s
,
w
e
in
s
ta
ll o
n
t
h
e
r
ea
l d
ev
ice,
th
e
Qu
ad
-
r
o
t
o
r
MA
V
m
o
d
el
is
s
h
o
w
n
as
F
i
g
u
r
e
1
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1634
–
1
6
4
3
1642
Fig
u
r
e
1
1
.
T
h
e
Qu
ad
-
r
o
to
r
MA
V
m
o
d
el
T
esti
n
g
th
e
s
y
s
te
m
i
n
th
e
lab
o
r
ato
r
y
w
it
h
th
e
en
v
ir
o
n
m
e
n
t
n
o
d
is
tu
r
b
an
ce
s
ca
u
s
ed
b
y
th
e
w
i
n
d
.
W
e
co
n
tr
o
l
th
e
an
g
u
lar
co
o
r
d
in
ate
s
(
ϕ
,θ,ψ
)
ch
a
n
g
i
n
g
t
h
e
v
al
u
e
f
r
o
m
(
-
38,
-
20,
-
68
)
to
(
0
,
0
,
-
40
)
d
eg
r
ee
,
an
d
t
h
e
x,
y
an
d
z
co
o
r
d
in
ates
ch
a
n
g
in
g
th
e
v
a
lu
e
f
r
o
m
(
0
.
2
,
0
.
4
,
0
.
4
)
to
(
0
.
8
,
0
.
6
,
.
0
7
)
m
,
th
e
ex
p
er
i
m
en
t
r
esu
l
ts
ar
e
s
h
o
w
n
in
F
i
g
u
r
e
1
2
,
w
h
ic
h
i
n
c
lu
d
es t
h
e
r
ea
l si
g
n
a
l v
al
u
es o
f
R
o
ll,
P
itch
,
Ya
w
an
g
le
co
o
r
d
in
ates a
n
d
th
e
x,
y
,
z
p
o
s
iti
o
n
co
o
r
d
in
ates.
Fig
u
r
e
1
2
.
T
h
e
ex
p
er
i
m
e
n
t r
es
u
lts
: (
a)
R
o
ll Stab
ilizatio
n
; (
b
)
P
itch
Stab
ilizatio
n
; (
c)
Ya
w
S
tab
ilizatio
n
;
(
d
)
R
esp
o
n
s
e
o
f
x
; (
e)
R
esp
o
n
s
e
o
f
y
; (
f
)
R
esp
o
n
s
e
o
f
z
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2088
-
8
694
A
S
u
ita
b
le
S
tr
u
ctu
r
e
to
C
o
n
tr
o
l th
e
S
ystem
o
f Q
u
a
d
-
r
o
t
o
r
Min
ia
tu
r
e
A
eria
l V
eh
icles (
V
a
n
-
Da
i B
u
i)
1643
T
h
e
ex
p
er
im
e
n
t
r
es
u
lts
s
h
o
w
t
h
at
th
e
r
esp
o
n
s
es
o
f
R
o
ll,
P
itch
,
Ya
w
co
o
r
d
in
ates
(
ϕ
,θ,ψ
)
an
d
th
e
x,
y
an
d
z
co
o
r
d
in
ates
ar
e
g
o
o
d
,
all
co
o
r
d
in
ates
attain
th
e
d
esire
d
v
alu
e
af
ter
ab
o
u
t
4
s
ec
o
n
d
s
.
Ho
w
e
v
er
,
th
e
an
g
u
lar
co
o
r
d
in
ates
h
av
e
th
e
f
l
u
ctu
a
tio
n
ab
o
u
t
±
5
d
eg
r
ee
s
.
T
h
e
a
m
p
lit
u
d
es
o
f
t
h
is
f
lu
ct
u
atio
n
ar
e
s
m
a
ll
a
n
d
ac
ce
p
tab
le
.
So
it is
co
n
f
ir
m
ed
th
at
t
h
e
s
y
s
te
m
co
n
tr
o
l
w
o
r
k
e
d
w
ell
an
d
e
f
f
icien
tl
y
.
6.
CO
NCLU
SI
O
N
I
n
t
h
is
r
e
s
ea
r
ch
,
t
h
e
a
u
t
h
o
r
s
h
av
e
p
r
o
p
o
s
ed
t
w
o
co
n
tr
o
l
s
tr
u
ctu
r
es
f
o
r
t
h
e
Q
u
ad
-
r
o
to
r
,
p
ar
ticu
lar
l
y
i
n
th
e
co
n
tr
o
l
s
y
s
te
m
s
tr
u
ct
u
r
e
w
it
h
t
h
e
d
o
u
b
le
lo
o
p
.
T
h
e
s
im
u
latio
n
r
es
u
lt
s
ar
e
p
r
esen
te
d
to
p
r
o
v
e
th
at
s
i
x
co
o
r
d
in
ates
(
x,
y,
z
,
ϕ,
θ,
ψ
)
ca
n
b
e
co
n
tr
o
lled
b
y
f
o
u
r
r
o
to
r
s
,
s
o
th
e
Qu
ad
-
r
o
to
r
ca
n
f
l
y
p
o
in
t
-
to
-
p
o
in
t
ex
ac
tl
y
i
n
th
e
s
p
ac
e
.
T
h
en
,
t
h
e
ex
p
er
i
m
e
n
tal
r
es
u
lt
s
m
a
k
e
ce
r
tai
n
t
h
at
t
h
e
Q
u
ad
-
r
o
to
r
ca
n
g
o
to
t
h
e
d
esire
d
p
o
s
itio
n
an
d
th
e
d
esire
d
d
ir
ec
tio
n
w
it
h
t
h
e
s
h
o
r
t
t
r
an
s
i
ti
o
n
t
im
e
,
s
o
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
l stru
ct
u
r
e
ca
n
b
e
ap
p
lied
in
p
r
ac
tice
w
it
h
t
h
e
lo
w
co
s
t a
n
d
t
h
e
h
i
g
h
-
ef
f
ic
ien
c
y
.
RE
F
E
R
E
NC
E
S
[1
]
M
.
S
.
M
.
A
sh
ra
f
,
e
t
a
l
.,
“
M
o
d
e
ll
in
g
a
n
d
P
a
ra
m
e
ter
s
Id
e
n
ti
f
i
c
a
ti
o
n
o
f
a
Qu
a
d
ro
to
r
Us
in
g
a
Cu
sto
m
T
e
st
Rig
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
(
IJ
PE
DS
)
,
v
o
l/
issu
e
:
9
(
2
),
p
p
.
8
6
5
-
8
7
2
,
2
0
1
8
.
[2
]
A
.
H.
G
in
ti
n
g
,
e
t
a
l.
,
“
A
tt
it
u
d
e
Co
n
tro
l
o
f
Qu
a
d
ro
to
r
u
si
n
g
P
D
P
l
u
s
F
e
e
d
f
o
rwa
rd
c
o
n
tro
ll
e
r
o
n
S
O
(3
)
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
(
IJ
ECE
)
,
v
o
l/
issu
e
:
8
(1
),
p
p
.
5
6
6
-
5
7
5
,
2
0
1
8
.
[3
]
M
.
R
.
Eres
sa
,
e
t
a
l.
,
“
P
ID
a
n
d
n
e
u
ra
l
n
e
t
c
o
n
tr
o
ll
e
r
p
e
rf
o
rm
a
n
c
e
c
o
m
p
a
rsio
n
in
M
A
V
p
it
c
h
a
tt
i
tu
d
e
c
o
n
tr
o
l
,
”
IE
E
E
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
S
y
ste
ms
,
M
a
n
,
a
n
d
Cy
b
e
rn
e
ti
c
s (
S
M
C)
,
pp
.
0
0
0
7
6
2
-
0
0
0
7
6
7
,
2
0
1
6
.
[4
]
D
.
Zh
a
n
g
,
e
t
a
l
.
,
“
A
d
a
p
ti
v
e
d
u
a
l
f
u
z
z
y
P
ID
c
o
n
tro
l
m
e
th
o
d
f
o
r
l
o
n
g
it
u
d
in
a
l
a
tt
it
u
d
e
c
o
n
tr
o
l
o
f
tail
-
sitt
e
r
M
A
V
,
”
2
2
n
d
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Au
t
o
ma
ti
o
n
a
n
d
C
o
mp
u
ti
n
g
(
ICAC)
,
p
p
.
3
7
8
-
3
8
2
,
2
0
1
6
.
[5
]
R
.
R.
Be
n
re
z
k
i
,
e
t
a
l.
,
“
P
a
ss
i
v
e
f
a
u
lt
to
lera
n
t
c
o
n
tro
l
o
f
Qu
a
d
ro
t
o
r
M
A
V
u
sin
g
a
n
o
n
li
n
e
a
r
P
ID
,
”
IEE
E
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
R
o
b
o
ti
c
s a
n
d
Bi
o
mime
ti
c
s (
ROBI
O),
p
p
.
1
2
8
5
-
1
2
9
0
,
2
0
1
5
.
[6
]
S
h
u
a
i
A
.,
e
t
a
l.
,
“
S
e
lf
-
tu
n
in
g
o
f
P
ID
c
o
n
tro
ll
e
rs
d
e
sig
n
b
y
a
d
a
p
ti
v
e
in
tera
c
ti
o
n
f
o
r
Qu
a
d
ro
t
o
r
M
A
V
,
”
IEE
E
Ch
in
e
se
Gu
id
a
n
c
e
,
Na
v
i
g
a
t
io
n
a
n
d
Co
n
tro
l
Co
n
fer
e
n
c
e
(
CGNC
C)
,
p
p
.
1
5
4
7
-
1
5
5
2
,
2
0
1
6
.
[7
]
S
.
Ba
g
h
e
ri
,
e
t
a
l.
,
“
Be
n
e
f
icia
ll
y
c
o
m
b
in
in
g
L
QR
a
n
d
P
ID
to
c
o
n
tr
o
l
l
o
n
g
it
u
d
i
n
a
l
d
y
n
a
m
i
c
s
o
f
a
S
m
a
rtF
l
y
M
A
V
,
”
IEE
E
7
th
A
n
n
u
a
l
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
,
El
e
c
tro
n
ics
a
n
d
M
o
b
il
e
Co
mm
u
n
ica
ti
o
n
Co
n
fer
e
n
c
e
(
IE
M
CON)
,
p
p
.
1
-
6
,
2
0
1
6
.
[8
]
S
.
G
.
V
´
a
z
q
u
e
z
a
n
d
J
.
M
.
V
a
len
z
u
e
la
,
“
A
Ne
w
No
n
li
n
e
a
r
P
I
-
P
I
D
Co
n
tr
o
ll
e
r
f
o
r
Q
u
a
d
ro
t
o
r
P
o
st
u
re
Re
g
u
latio
n
,
”
El
e
c
tro
n
ics
,
R
o
b
o
ti
c
s a
n
d
Au
t
o
m
o
ti
v
e
M
e
c
h
a
n
ics
Co
n
fer
e
n
c
e
,
pp
.
642
-
6
4
7
,
2
0
1
0
.
[9
]
W
e
i
y
o
n
g
S
.,
e
t
a
l.
,
“
F
u
z
z
y
P
ID
c
o
n
tr
o
ll
e
r
f
o
r
M
A
V
trac
k
in
g
m
o
v
i
n
g
targ
e
t
,
”
2
9
th
Ch
i
n
e
se
Co
n
tro
l
An
d
De
c
isio
n
Co
n
fer
e
n
c
e
(
CCDC
)
,
pp
.
3
0
2
3
-
3
0
2
7
,
2
0
1
7
.
[1
0
]
Y
.
M
o
u
,
e
t
a
l
.
,
“
T
h
e
f
li
g
h
t
c
o
n
tro
l
o
f
m
i
c
ro
q
u
a
d
-
ro
to
r
M
A
V
b
a
se
d
o
n
P
I
D
,
”
3
1
st
Y
o
u
th
Aca
d
e
mic
An
n
u
a
l
Co
n
fer
e
n
c
e
o
f
C
h
i
n
e
se
Asso
c
ia
ti
o
n
o
f
Au
t
o
ma
t
io
n
(
Y
AC),
pp
.
3
5
3
-
3
5
6
,
2
0
1
6
.
[1
1
]
J
.
M.
S
e
lf
rid
g
e
a
n
d
G
.
T
a
o
,
“
A
m
u
lt
iv
a
ri
a
b
le
a
d
a
p
ti
v
e
c
o
n
tro
ll
e
r
f
o
r
a
Qu
a
d
ro
to
r
w
it
h
g
u
a
ra
n
tee
d
m
a
tch
in
g
c
o
n
d
i
ti
o
n
s
,
”
Ame
ric
a
n
C
o
n
tr
o
l
C
o
n
fer
e
n
c
e
(
ACC)
,
p
p
2
6
-
3
1
,
2
0
1
4
.
[1
2
]
W
.
S
a
e
n
g
p
h
e
t
,
e
t
a
l.
,
“
I
m
p
le
m
e
n
tatio
n
o
f
s
y
ste
m
id
e
n
ti
f
ica
ti
o
n
a
n
d
f
li
g
h
t
c
o
n
tro
l
sy
st
e
m
f
o
r
M
A
V
,
”
IEE
E
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
R
o
b
o
ti
c
s a
n
d
Au
t
o
ma
ti
o
n
,
pp
.
6
7
8
-
6
8
3
,
2
0
1
7
.
[1
3
]
N.
M
.
Ra
h
a
rja,
e
t
a
l
.
,
“
Ho
v
e
rin
g
Co
n
tr
o
l
o
f
Qu
a
d
ro
t
o
r
Ba
se
d
o
n
F
u
z
z
y
L
o
g
i
c
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
(
IJ
PE
DS
)
,
v
o
l
/i
ss
u
e
:
8
(
1
),
p
p
.
4
9
2
-
5
0
4
,
2
0
1
7
.
[1
4
]
F
.
Ş
e
n
k
u
l
a
n
d
E
.
A
lt
u
ğ
,
“
A
d
a
p
ti
v
e
c
o
n
tro
l
o
f
a
ti
lt
-
ro
ll
ro
to
r
Qu
a
d
ro
t
o
r
M
A
V
,
”
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
in
ia
tu
re
A
irc
ra
ft
S
y
ste
ms
(
ICU
AS
),
pp
.
1
1
3
2
-
1
1
3
7
,
2
0
1
4
.
[1
5
]
M
.
Żu
g
a
j
,
e
t
a
l
.
,
“
T
h
ru
st
p
u
lse
c
o
n
tro
l
f
o
r
M
A
V
c
o
n
t
ro
l
sy
ste
m
r
e
c
o
n
f
ig
u
ra
ti
o
n
,
”
2
1
st
I
n
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
M
e
th
o
d
s a
n
d
M
o
d
e
ls
i
n
A
u
to
m
a
ti
o
n
a
n
d
R
o
b
o
ti
c
s (
M
M
AR
)
,
pp
.
7
0
8
-
7
1
3
,
2
0
1
6
.
[1
6
]
O.
C.
Ca
rh
o
lt
,
e
t
a
l.
,
“
De
sig
n
,
m
o
d
e
ll
i
n
g
a
n
d
c
o
n
tr
o
l
o
f
a
S
in
g
le
Ro
to
r
M
A
V
,
”
2
4
th
M
e
d
it
e
rr
a
n
e
a
n
Co
n
fer
e
n
c
e
o
n
Co
n
tro
l
a
n
d
Au
t
o
ma
t
io
n
(
M
ED),
p
p
.
8
4
0
-
8
4
5
,
2
0
1
6
.
[1
7
]
Y
.
W
a
n
g
,
e
t
a
l.
,
“
F
u
z
z
y
ra
d
ial
b
a
sis
f
u
n
c
ti
o
n
n
e
u
ra
l
n
e
tw
o
rk
P
ID
c
o
n
tro
l
sy
ste
m
f
o
r
a
Qu
a
d
ro
to
r
M
A
V
b
a
se
d
o
n
p
a
rti
c
le
sw
a
r
m
o
p
ti
m
iz
a
ti
o
n
,
”
IE
EE
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
In
fo
rm
a
t
io
n
a
n
d
A
u
to
m
a
ti
o
n
,
pp
.
2
5
8
0
-
2
5
8
5
,
2
0
1
5
.
[1
8
]
C
.
R.
As
h
o
k
k
u
m
a
r
,
e
t
a
l.
,
“
T
i
m
e
re
sp
o
n
se
b
o
u
n
d
s
in
n
o
n
li
n
e
a
r
M
A
V
c
o
n
tro
l
,
”
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
in
ia
tu
re
A
irc
ra
ft
S
y
ste
ms
(
ICU
AS
)
,
pp
.
1
6
-
2
2
,
2
0
1
7
.
[1
9
]
J
.
Ord
a
z
,
et
a
l.
,
“
Qu
a
d
ro
t
o
r
-
M
A
V
sta
b
il
iza
ti
o
n
b
y
p
re
d
icto
r
b
a
se
d
c
o
n
tro
l
,
”
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
in
ia
tu
re
Ai
rc
ra
ft
S
y
ste
ms
(
ICUAS
)
,
pp
.
29
-
3
5
,
2
0
1
7
.
[2
0
]
O
.
A
ra
a
r
,
e
t
a
l.
,
“
I
d
e
n
ti
f
ica
ti
o
n
&
c
o
n
tro
l
o
f
a
m
u
lt
iro
to
r
M
A
V
in
th
e
p
re
se
n
c
e
o
f
a
c
tu
a
to
r
a
sy
m
m
e
tr
y
,
”
2
5
t
h
M
e
d
it
e
rr
a
n
e
a
n
C
o
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