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I
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2
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
S
imp
led
-
Da
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B
a
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Qu
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A
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A
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125
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A
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V
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U
AVs)
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[
6
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7
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[
8
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1
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Sa
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allah
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[
6
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[
7
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I
n
[
9
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an
d
[
1
1
]
tr
ac
k
in
g
co
n
tr
o
l
b
ased
o
n
a
SMC
h
a
s
b
ee
n
d
ev
e
lo
p
ed
f
o
r
d
if
f
er
en
t
d
y
n
a
m
ic
m
o
d
els.
C
o
n
ti
n
u
o
u
s
ti
m
e
b
ac
k
s
tep
p
i
n
g
co
n
tr
o
l
o
f
a
q
u
ad
r
o
to
r
h
as
b
ee
n
s
u
g
g
e
s
t
ed
in
[
1
1
]
as
w
el
l.
Qu
ad
r
o
to
r
m
o
d
el
h
as
b
ee
n
d
i
v
id
ed
in
to
a
f
u
ll
y
-
ac
t
u
ated
an
d
an
u
n
d
er
-
ac
t
u
ated
s
u
b
s
y
s
te
m
i
n
[
1
2
]
an
d
a
r
ate
b
o
u
n
d
ed
P
I
D
co
n
tr
o
l
alo
n
g
w
it
h
t
h
e
SMC
h
a
s
b
ee
n
p
r
o
p
o
s
ed
to
s
tab
ilize
a
f
u
ll
y
-
ac
t
u
ated
s
u
b
s
y
s
te
m
.
A
co
m
p
ar
ati
v
e
a
n
al
y
s
i
s
b
et
w
ee
n
an
ad
ap
tiv
e
SMC
a
n
d
a
f
ee
d
b
ac
k
li
n
ea
r
izatio
n
i
n
t
h
e
p
r
es
en
ce
o
f
m
o
d
ellin
g
u
n
ce
r
tai
n
tie
s
h
as
b
ee
n
ca
r
r
ie
d
o
u
t
i
n
[
1
3
]
an
d
it
h
a
s
b
ee
n
s
h
o
w
n
t
h
at
t
h
e
SMC
is
m
o
r
e
r
o
b
u
s
t
th
a
n
t
h
e
f
ee
d
b
ac
k
lin
ea
r
izi
n
g
co
n
tr
o
l.
I
n
[
1
4
]
an
ex
ten
d
ed
o
b
s
er
v
er
h
as
b
ee
n
u
s
ed
to
esti
m
ate
a
class
o
f
d
is
tu
r
b
a
n
ce
s
an
d
a
co
n
ti
n
u
o
u
s
ti
m
e
SM
C
h
as
b
ee
n
ap
p
lied
to
s
tab
ilize
t
h
e
attitu
d
e
o
f
a
q
u
ad
r
o
to
r
in
t
h
e
p
r
esen
ce
o
f
t
h
e
s
e
d
is
tu
r
b
an
ce
s
.
A
n
in
te
g
r
al
SM
C
h
a
s
b
ee
n
u
s
ed
i
n
[
1
1
]
f
o
r
th
e
attitu
d
e
s
tab
ilizatio
n
o
f
a
q
u
ad
r
o
to
r
UA
V.
[
6
-
8
]
,
[
1
5
]
an
d
[
1
6
]
p
r
o
p
o
s
ed
th
e
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
o
f
a
q
u
ad
r
o
to
r
.
W
h
er
e
[
1
5
]
d
is
cu
s
s
ed
t
h
e
co
m
m
a
n
d
f
ilter
ed
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
o
f
a
q
u
ad
r
o
to
r
t
o
tr
ac
k
th
e
attit
u
d
e
tr
aj
ec
to
r
y
an
d
[
1
6
]
h
as
ac
h
ie
v
ed
th
e
s
tab
il
izin
g
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
o
f
a
q
u
a
d
r
o
to
r
UA
V
b
y
d
i
v
id
in
g
t
h
e
d
y
n
a
m
ic
m
o
d
el
in
t
h
r
ee
s
u
b
s
y
s
t
e
m
s
s
u
c
h
as
u
n
d
er
-
ac
tu
ated
,
f
u
ll
y
-
ac
t
u
ated
an
d
p
r
o
p
eller
s
u
b
s
y
s
te
m
s.
I
n
[
1
7
]
co
n
tr
o
l
o
f
a
q
u
ad
r
o
to
r
h
as
b
ee
n
d
is
cu
s
s
ed
.
Feed
b
ac
k
lin
ea
r
izi
n
g
co
n
tr
o
l
o
f
a
q
u
ad
r
o
to
r
U
A
V
alo
n
g
w
i
th
a
s
lid
i
n
g
m
o
d
e
o
b
s
er
v
er
h
as
b
ee
n
p
r
esen
ted
in
[
1
8
]
w
h
ich
r
ej
ec
t th
e
p
ar
a
m
etr
ic
u
n
ce
r
tai
n
tie
s
.
T
h
e
liter
atu
r
e
f
o
r
th
e
d
i
s
cr
ete
ti
m
e
co
n
tr
o
l
o
f
a
q
u
ad
r
o
to
r
UAV
is
y
e
t
to
b
e
d
ev
elo
p
ed
.
T
h
is
p
ap
er
p
r
e
s
e
n
t
s
t
h
e
s
a
m
p
l
e
d
-
d
a
ta
c
o
n
t
r
o
l
o
f
a
q
u
ad
r
o
to
r
U
AV
u
s
i
n
g
b
a
c
k
s
t
e
p
p
i
n
g
t
e
c
h
n
i
q
u
e
a
n
d
a
c
o
m
p
a
r
i
s
o
n
b
et
w
ee
n
t
w
o
s
a
m
p
led
-
d
ata
ap
p
r
o
ac
h
es.
I
t
h
as
b
ee
n
s
h
o
w
n
b
y
th
e
s
i
m
u
latio
n
s
th
at
t
h
e
p
r
o
p
o
s
ed
d
is
cr
ete
tim
e
co
n
tr
o
l
b
ased
o
n
an
E
u
ler
ap
p
r
o
x
i
m
ate
m
o
d
el
is
f
ar
m
o
r
e
r
o
b
u
s
t
to
th
e
w
in
d
g
u
s
t
an
d
m
o
d
ellin
g
u
n
ce
r
tain
tie
s
a
s
c
o
m
p
a
r
e
d
t
o
t
h
e
s
a
m
p
l
e
d
-
d
a
t
a
c
o
n
t
r
o
l
b
a
s
e
d
o
n
a
c
o
n
t
i
n
u
o
u
s
t
i
m
e
s
y
s
t
e
m
m
o
d
e
l
.
T
h
is
p
ap
er
is
o
r
g
a
n
ized
as
f
o
l
lo
w
s
;
b
r
ief
d
escr
ip
tio
n
o
f
t
h
e
d
y
n
a
m
ic
m
o
d
el
o
f
a
q
u
ad
r
o
to
r
U
A
V
i
s
p
r
esen
ted
in
s
ec
tio
n
-
2
.
Sectio
n
-
3
p
r
ese
n
ts
th
e
s
a
m
p
led
-
d
ata
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
b
ased
o
n
a
co
n
ti
n
u
o
u
s
ti
m
e
s
y
s
te
m
m
o
d
el.
W
h
er
ea
s
,
Sa
m
p
led
-
d
ata
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
b
ased
o
n
a
n
E
u
ler
ap
p
r
o
x
i
m
ate
m
o
d
el
h
as
b
ee
n
p
r
esen
ted
in
s
ec
tio
n
-
4
.
Si
m
u
l
atio
n
s
i
n
th
e
p
r
ese
n
ce
o
f
m
o
d
ellin
g
u
n
ce
r
tai
n
ties
an
d
w
i
n
d
g
u
s
t
h
av
e
b
ee
n
ca
r
r
ied
o
u
t
to
p
r
esen
t
a
co
m
p
a
r
ativ
e
a
n
al
y
s
is
b
et
w
ee
n
th
e
t
wo
s
a
m
p
led
-
d
ata
ap
p
r
o
ac
h
es
in
s
ec
tio
n
-
5
f
o
llo
w
ed
b
y
t
h
e
co
n
cl
u
s
io
n
i
n
s
ec
tio
n
-
6.
2.
SYST
E
M
M
O
DE
L
Qu
ad
r
o
to
r
is
an
u
n
d
er
-
ac
t
u
at
ed
elec
tr
o
m
ec
h
a
n
ical
s
y
s
te
m
w
ith
s
i
x
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
a
n
d
f
o
u
r
co
n
tr
o
l
in
p
u
ts
.
T
h
ese
in
p
u
ts
a
r
e
th
e
t
h
r
u
s
ts
g
e
n
er
ated
b
y
th
e
co
u
n
ter
r
o
tati
n
g
p
air
s
o
f
p
r
o
p
eller
s
attac
h
ed
a
t
th
e
co
r
n
er
s
o
f
th
e
X
-
s
h
ap
ed
f
r
a
m
e
[
6
]
[
7
]
[
8
]
[
9
]
[
1
0
]
[
1
1
]
.
T
h
e
th
r
u
s
t
g
e
n
er
ated
ca
n
b
e
u
s
ed
to
p
r
o
d
u
ce
th
r
ee
an
g
u
lar
m
o
t
io
n
s
,
r
o
ll
(
)
,
p
itch
(
)
an
d
y
a
w
(
)
an
d
th
r
ee
tr
an
s
lat
io
n
al
m
o
t
io
n
s
alo
n
g
,
an
d
-
a
x
is
r
esp
ec
tiv
el
y
as
d
escr
ib
ed
in
[
6
]
[
7
]
[
8
]
[
9
]
[
1
0
]
[
1
1
]
.
T
h
ese
an
g
u
lar
m
o
t
io
n
s
ar
e
m
ea
s
u
r
e
d
in
t
h
e
b
o
d
y
f
ix
ed
f
r
a
m
e.
O
n
th
e
o
t
h
er
h
an
d
,
th
e
tr
an
s
latio
n
al
m
o
tio
n
o
f
a
q
u
ad
r
o
to
r
is
m
o
d
elled
b
y
tr
an
s
f
o
r
m
in
g
th
e
f
o
r
ce
s
ac
tin
g
o
n
a
q
u
ad
r
o
to
r
to
th
e
ea
r
th
f
i
x
ed
f
r
a
m
e
b
y
t
h
e
m
ea
n
s
o
f
a
tr
a
n
s
f
o
r
m
at
io
n
m
atr
i
x
“
R
”
[
6
]
[
7
]
[
8
]
[
9
]
[
1
0
]
[
1
1
]
.
Fig
u
r
e1
.
Qu
ad
r
o
to
r
f
r
ee
b
o
d
y
d
iag
r
a
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
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4856
IJ
RA
Vo
l.
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No
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2
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J
u
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2
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2
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–
13
4
126
T
h
e
d
y
n
a
m
ic
m
o
d
el
o
f
q
u
ad
r
o
to
r
as p
r
esen
ted
in
[
6
]
,
[
7
]
an
d
[
8
]
is
,
̈
̇
̇
(
)
̇
̈
̇
̇
(
)
̇
̈
̇
̇
(
)
̈
(
)
(1
)
̈
(
)
̈
(
)
W
h
er
e,
,
an
d
ar
e
th
e
m
o
m
e
n
ts
o
f
i
n
er
tia
alo
n
g
x
,
y
a
n
d
z
ax
is
r
esp
ec
ti
v
el
y
.
,
an
d
r
ep
r
esen
t
r
o
to
r
in
er
tia,
len
g
t
h
o
f
th
e
r
o
d
an
d
m
a
s
s
o
f
v
eh
ic
l
e
r
esp
ec
tiv
el
y
.
An
d
,
,
an
d
ar
e
r
esp
ec
tiv
el
y
r
o
ll,
p
itch
an
d
y
a
w
a
n
g
les
i
n
b
o
d
y
f
i
x
ed
f
r
a
m
e
an
d
ar
e
lin
ea
r
p
o
s
itio
n
s
w
ith
r
esp
ec
t
to
an
in
er
tial
f
r
a
m
e
o
f
r
ef
er
en
ce
.
T
h
e
th
r
u
s
t
an
d
d
r
ag
f
ac
to
r
s
ar
e
r
esp
ec
tiv
el
y
.
T
h
e
co
n
tr
o
l in
p
u
ts
ar
e,
(
)
(
)
(
)
(
2
)
(
)
W
h
er
e,
is
th
e
s
p
ee
d
o
f
r
o
tatio
n
o
f
ea
ch
p
r
o
p
eller
an
d
R
ep
r
esen
ti
n
g
(
1
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in
s
tate
s
p
ac
e
w
e
h
av
e
a
d
y
n
a
m
ic
m
o
d
el
o
f
a
q
u
ad
r
o
to
r
as,
̇
̇
̇
̇
̇
(
3
)
̇
̇
̇
(
)
̇
̇
̇
̇
W
h
er
e
r
ep
r
esen
t
th
e
r
o
ll,
p
itc
h
,
y
a
w
a
n
d
ar
e
th
eir
ti
m
e
d
er
iv
ati
v
es
r
esp
ec
ti
v
el
y
.
A
lti
tu
d
e
,
x
-
p
o
s
i
tio
n
a
n
d
y
-
p
o
s
itio
n
a
r
e
r
ep
r
esen
ted
b
y
an
d
th
ei
r
ti
m
e
d
er
iv
ati
v
es
ar
e
d
e
n
o
ted
b
y
r
esp
ec
tiv
el
y
.
An
d
(
)
,
,
(
)
,
,
(
)
,
,
(
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
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4856
S
imp
led
-
Da
ta
B
a
ck
s
tep
p
in
g
C
o
n
tr
o
l
o
f a
Qu
a
d
r
o
to
r
Un
ma
n
n
ed
A
eria
l V
eh
icle
(
A
b
d
u
l J
a
b
b
a
r
)
127
3.
SAM
P
L
E
D
-
DATA CO
N
T
R
O
L
B
ASE
D
O
N
A
CO
N
T
I
N
UO
US
T
I
M
E
SYS
T
E
M
M
O
DE
L
W
ith
th
i
s
ap
p
r
o
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IJ
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ased
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ased
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4
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Fli
g
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t Si
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I
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T
h
e
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in
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s
t
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a)
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led
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ased
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led
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ased
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ete
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b
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Fig
u
r
e
5
.
Sa
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-
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ased
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t (
a)
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b
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ch
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c)
Ya
w
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I
SS
N
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2
0
8
9
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IJ
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2
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132
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Fig
u
r
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6
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Sa
m
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ased
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t
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b
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c)
A
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5
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4
.
S
i
m
ula
t
io
n Re
s
ults w
it
h P
er
t
urbed P
a
ra
m
et
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s
a
nd
Wi
nd
G
us
t
s
Fin
all
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b
o
th
th
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co
n
tr
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ller
s
ar
e
s
u
b
j
ec
t
to
th
e
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ar
am
eter
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tu
r
b
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n
in
th
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p
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o
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w
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n
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g
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s
t
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lr
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d
y
d
escr
ib
ed
ab
o
v
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m
p
led
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d
ata
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ac
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s
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ased
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co
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ilizes
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h
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y
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th
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th
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d
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ased
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p
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ce
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t.
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m
u
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ai
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p
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f
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h
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m
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b
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d
s
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.
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Fig
u
r
e
7
.
Sa
m
p
led
-
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ased
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im
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E
q
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t S
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el
.
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ith
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P
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r
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f
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o
ler
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ce
an
d
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in
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s
t (
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ll B
o
u
n
d
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b
)
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itch
B
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n
d
(
c)
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w
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o
u
n
d
.
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IJ
RA
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SS
N:
2089
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4856
S
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r
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133
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r
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ased
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6.
CO
NCLU
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ted
th
at
co
m
p
le
tel
y
s
tab
ilizes
t
h
e
air
cr
af
t
in
a
s
e
m
i
g
lo
b
al
p
r
ac
tical
s
en
s
e.
Si
m
u
latio
n
s
f
o
r
d
if
f
er
en
t
in
it
ial
co
n
d
itio
n
s
h
a
v
e
s
h
o
w
n
t
h
at
co
n
tr
o
ller
d
esig
n
ed
o
n
th
e
b
asi
s
o
f
a
n
ap
p
r
o
x
im
a
te
d
is
c
r
ete
ti
m
e
s
y
s
te
m
m
o
d
el
h
a
s
a
lar
g
er
r
eg
i
o
n
o
f
attr
ac
tio
n
a
s
co
m
p
ar
ed
to
co
n
tr
o
ller
o
b
tain
ed
b
y
d
is
cr
etiza
tio
n
o
f
a
co
n
t
in
u
o
u
s
ti
m
e
co
n
tr
o
l.
Fu
r
t
h
er
m
o
r
e,
Mo
n
te
C
ar
lo
s
i
m
u
lat
io
n
s
h
av
e
r
ev
ea
led
t
h
at
s
a
m
p
led
-
d
ata
b
ac
k
s
tep
p
i
n
g
c
o
n
tr
o
l
b
ased
o
n
an
E
u
ler
ap
p
r
o
x
i
m
ate
m
o
d
el
ca
n
s
tab
ilize
th
e
q
u
ad
r
o
to
r
UA
V
w
it
h
r
an
d
o
m
p
ar
a
m
eter
p
er
tu
r
b
atio
n
s
o
f
3
0
p
e
r
ce
n
t
to
ler
an
ce
.
W
h
er
ea
s
,
s
a
m
p
led
-
d
ata
b
ac
k
s
tep
p
i
n
g
c
o
n
tr
o
l
b
ased
o
n
a
co
n
ti
n
u
o
u
s
ti
m
e
s
y
s
te
m
m
o
d
el
d
estab
ili
ze
th
e
s
y
s
te
m
ev
e
n
w
it
h
r
a
n
d
o
m
p
ar
a
m
eter
p
er
tu
r
b
atio
n
s
o
f
3
p
er
ce
n
t
to
ler
an
ce
.
A
d
d
itio
n
all
y
,
t
h
e
p
r
o
p
o
s
ed
s
a
m
p
led
-
d
at
a
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
b
ased
o
n
an
E
u
ler
ap
p
r
o
x
i
m
ate
m
o
d
el
s
tab
ilizes
th
e
q
u
ad
r
o
to
r
UAV
in
th
e
p
r
esen
ce
o
f
w
i
n
d
g
u
s
t
an
d
r
an
d
o
m
p
ar
a
m
eter
p
er
tu
r
b
atio
n
s
o
f
1
5
p
er
c
en
t
to
ler
an
ce
.
O
n
t
h
e
o
th
er
h
a
n
d
,
s
a
m
p
led
-
d
ata
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
b
ased
o
n
a
co
n
tin
u
o
u
s
ti
m
e
s
y
s
te
m
m
o
d
el
ag
ai
n
d
estab
ilizes
th
e
s
y
s
te
m
w
i
th
s
i
m
u
lta
n
eo
u
s
p
r
esen
ce
o
f
w
in
d
g
u
s
t
an
d
r
an
d
o
m
p
ar
a
m
e
ter
p
er
tu
r
b
atio
n
s
o
f
3
p
er
ce
n
t
to
ler
an
ce
.
T
h
u
s
,
th
e
P
r
o
p
o
s
ed
d
is
cr
ete
ti
m
e
b
ac
k
s
t
ep
p
in
g
co
n
tr
o
l
b
ased
o
n
a
n
E
u
ler
ap
p
r
o
x
i
m
ate
m
o
d
el
is
f
ar
m
o
r
e
r
o
b
u
s
t
to
t
h
e
m
o
d
ell
in
g
u
n
ce
r
tai
n
ties
an
d
e
x
o
g
e
n
o
u
s
n
o
is
e
s
u
c
h
as
w
i
n
d
g
u
s
t
o
f
s
o
m
e
m
o
d
er
ate
s
p
ee
d
as
co
m
p
ar
ed
to
t
h
e
co
n
tr
o
ller
o
b
tain
ed
b
y
d
is
cr
eti
zin
g
a
co
n
tin
u
o
u
s
ti
m
e
b
ac
k
s
t
ep
p
in
g
co
n
tr
o
l.
RE
F
E
R
E
N
C
E
S
[1
]
D.
S
.
L
a
il
a
.
,
“
D
e
sig
n
a
n
d
A
n
a
l
y
si
s
o
f
No
n
li
n
e
a
r
S
a
m
p
led
Da
ta
Co
n
tro
l
S
y
ste
m
s”
,
P
h
D
Diss
e
rtatio
n
-
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
En
g
i
n
e
e
rin
g
,
th
e
Un
iv
e
rsity
o
f
M
e
lb
o
u
r
n
e
,
A
p
ril
2
0
0
3
.
[2
]
K.
Og
a
ta.,
“
Disc
re
te
-
T
ime
Co
n
tro
l
S
y
ste
ms
”
,
2
nd
Ed
it
i
o
n
(
P
re
n
ti
c
e
-
Ha
ll
In
tern
a
ti
o
n
a
l
I
n
c
.
)
[3
]
F
.
M
.
M
a
li
k
,
“
S
a
m
p
led
Da
t
a
Co
n
tro
l
Ba
se
d
o
n
Disc
re
te
T
ime
Eq
u
iva
len
t
M
o
d
e
ls”
,
P
h
D
Diss
e
rtatio
n
-
De
p
a
rtm
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
NU
S
T
Co
ll
e
g
e
o
f
El
e
c
tri
c
a
l
a
n
d
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
,
2
0
0
9
.
[4
]
D.
Ne
sic
,
A
.
R.
Tee
l.
,
“
Ba
c
k
ste
p
p
in
g
o
n
E
u
ler
Ap
p
ro
x
im
a
te
M
o
d
e
l
fo
r
S
ta
b
i
li
za
ti
o
n
o
f
S
a
m
p
led
Da
ta
No
n
li
n
e
a
r
S
y
ste
ms
”
,
P
r
o
c
e
e
d
in
g
s
o
f
th
e
4
0
th
IEE
E
Co
n
f
e
re
n
c
e
o
n
De
c
isio
n
a
n
d
C
o
n
tr
o
l,
Orla
n
d
o
,
F
lo
r
id
a
U
S
A
,
De
c
e
m
b
e
r
2
0
0
1
.
[5
]
F
.
M
.
M
a
li
k
.
,
e
t
a
l.
,
“
S
a
m
p
led
-
Da
ta
S
ta
te
F
e
e
d
b
a
c
k
sta
b
il
iza
ti
o
n
o
f
a
Clas
s
o
f
No
n
li
n
e
a
r
S
y
ste
m
s
Ba
se
d
o
n
Eu
ler
A
p
p
ro
x
ima
ti
o
n
”
,
Asi
a
n
J
o
u
rn
a
l
o
f
Co
n
tro
l
.
Vo
l.
1
3
,
p
p
.
1
7
1
9
-
1
7
2
8
,
2
0
1
1
.
[6
]
S
.
Bo
u
a
b
d
a
ll
a
h
.
,
“
De
sig
n
a
n
d
Co
n
tro
l
o
f
Qu
a
d
r
o
to
rs
wit
h
Ap
p
li
c
a
ti
o
n
t
o
Au
t
o
n
o
mo
u
s
Fl
y
in
g
”
,
P
h
D
Diss
e
rtatio
n
-
S
w
iss
f
e
d
e
ra
l
In
stit
u
te o
f
T
e
c
h
n
o
l
o
g
y
L
a
u
sa
n
n
e
(EP
F
L
),
2
0
0
7
.
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