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i
n
g
d
esig
n
ed
P
I
D
an
d
Fu
zz
y
co
n
tr
o
ller
o
n
t
h
e
AR
.
Dr
o
n
e.
P
r
a
y
it
n
o
,
et
a
l.
in
[
3
]
d
esig
n
ed
2
f
u
zz
y
co
n
tr
o
ller
s
to
co
n
tr
o
l
t
h
e
x
an
d
y
p
o
s
itio
n
u
s
in
g
p
itch
an
d
y
a
w
.
I
n
d
r
a
w
ati
,
et
a
l.
in
[
4
]
an
d
[
5
]
is
d
esig
n
ed
an
d
i
m
p
le
m
en
ted
t
h
r
ee
p
iece
s
o
f
f
u
zz
y
lo
g
ic
co
n
tr
o
l
to
co
n
tr
o
l
th
e
p
o
s
itio
n
o
f
x
,
y
,
z
u
s
i
n
g
o
f
p
itc
h
,
r
o
ll
an
d
v
er
tical
r
at
e
o
f
th
e
AR
.
Dr
o
n
e.
T
h
e
y
co
m
p
ar
ed
v
ar
io
u
s
s
ch
e
m
e
s
o
f
f
u
zz
y
co
n
t
r
o
l
to
p
o
s
itio
n
co
n
tr
o
l.
Pra
y
it
n
o
,
et
a
l.
in
[
6
]
is
d
esig
n
ed
co
n
v
e
n
tio
n
al
P
I
D
co
n
tr
o
l
an
d
co
m
p
ar
ed
w
it
h
f
u
z
z
y
co
n
tr
o
l
s
ch
e
m
e
d
esig
n
ed
b
y
I
n
d
r
a
w
at
i
in
[
5
]
.
T
an
g
in
[
7
]
d
esig
n
ed
a
P
I
D
co
n
tr
o
ller
f
o
r
w
a
y
p
o
in
t
n
a
v
ig
atio
n
ap
p
licatio
n
s
an
d
tr
aj
ec
to
r
y
tr
ac
k
in
g
an
d
v
is
io
n
-
b
ased
co
n
tr
o
ller
f
o
r
a
v
ar
iet
y
o
f
f
o
r
m
at
io
n
f
l
y
i
n
g
.
A
b
b
as,
et
a
l.
in
[
8
]
is
d
esig
n
ed
co
n
tr
o
ls
f
o
r
tr
ac
k
in
g
f
o
r
m
atio
n
q
u
ad
r
o
to
r
w
h
er
e
th
e
P
I
D
co
n
tr
o
ller
is
im
p
le
m
en
ted
in
q
u
ad
r
o
to
r
lead
er
an
d
d
ir
ec
ted
L
y
ap
u
n
o
v
co
n
tr
o
ller
is
i
m
p
le
m
en
ted
o
n
t
h
e
f
o
llo
w
er
s
.
T
h
e
ar
tif
ici
al
f
i
s
h
s
w
ar
m
al
g
o
r
ith
m
i
s
u
s
ed
f
o
r
d
y
n
a
m
ic
s
o
p
tim
izatio
n
o
f
t
h
e
p
ar
a
m
eter
s
co
n
tr
o
ller
s
.
Seid
ab
ad
,
et
a
l.
in
[
9
]
m
o
d
elled
th
e
m
o
tio
n
o
f
all
q
u
ad
r
o
to
r
w
i
th
Si
m
u
li
n
k
.
T
h
e
y
ar
e
u
s
i
n
g
t
w
o
t
y
p
es
o
f
co
n
tr
o
ller
s
,
w
h
ich
a
r
e
P
I
D
c
o
n
tr
o
ller
an
d
co
m
b
i
n
atio
n
o
f
f
u
zz
y
-
P
I
D
co
n
tr
o
ller
.
T
h
e
s
i
m
u
latio
n
r
esu
lts
s
h
o
w
ed
th
at
t
h
e
h
y
b
r
id
f
u
zz
y
-
P
I
D
co
n
tr
o
ller
is
m
o
r
e
s
u
itab
le
w
h
e
n
th
er
e
h
as
a
t
u
r
b
u
le
n
ce
.
Ga
u
ta
m
,
et
a
l.
in
[
1
0
]
d
esig
n
ed
a
s
elf
-
t
u
n
in
g
P
I
D
co
n
tr
o
ller
u
s
i
n
g
E
K
F
alg
o
r
it
h
m
th
a
t
is
i
m
p
le
m
en
ted
o
n
q
u
ad
r
o
to
r
f
o
r
attitu
d
e
an
d
p
o
s
itio
n
co
n
t
r
o
l
o
f
th
e
q
u
ad
r
o
to
r
.
Am
m
o
zg
ar
,
et
a
l.
in
[
1
1
]
i
m
p
le
m
en
ted
Fu
zz
y
P
I
D
Gai
n
-
Sc
h
ed
u
led
to
co
p
e
w
i
th
th
e
p
o
s
s
ib
le
f
ail
u
r
e
o
f
th
e
ac
tu
a
to
r
q
u
ad
r
o
to
r
.
T
h
e
t
w
o
ac
tu
ato
r
f
ail
u
r
e
s
ch
e
m
es
ar
e
d
esig
n
ed
,
w
h
ic
h
ar
e
th
e
f
ail
u
r
e
o
f
all
ac
tu
ato
r
s
an
d
s
in
g
le
ac
tu
ato
r
.
P
r
ay
it
n
o
,
et
a
l.
in
[
1
2
]
im
p
le
m
en
ted
o
t
h
er
co
n
tr
o
l
s
ch
e
m
e,
H
-
I
n
f
i
n
it
y
,
to
co
n
tr
o
l
p
itch
an
d
r
o
ll
o
f
t
h
e
AR
.
Dr
o
n
e.
Haz
za
b
i
,
et
a
l.
in
[
1
3
]
i
m
p
le
m
en
ted
a
d
ap
tiv
e
F
L
C
-
P
I
,
w
h
er
e
P
I
co
n
tr
o
ller
p
ar
a
m
eter
s
ar
e
ad
j
u
s
ted
b
y
f
u
zz
y
g
ain
s
ch
ed
u
lin
g
,
to
co
n
tr
o
l
an
i
n
d
u
ctio
n
m
o
to
r
.
S
y
ed
,
et
a
l.
in
[
1
4
]
ap
p
lied
f
u
zz
y
g
ai
n
s
c
h
ed
u
li
n
g
P
I
co
n
tr
o
l
b
ased
o
n
th
e
s
y
s
te
m
’
s
o
p
er
atin
g
co
n
d
itio
n
s
f
o
r
co
n
tr
o
lli
n
g
e
n
g
i
n
e
p
o
w
er
an
d
s
p
ee
d
o
f
a
p
o
w
er
-
s
p
lit
HE
V
i
n
t
h
e
ap
p
lied
au
to
m
o
ti
v
e
f
ield
.
Ou
r
p
ap
er
d
escr
ib
es
th
e
d
esi
g
n
a
n
d
i
m
p
le
m
en
ta
tio
n
t
h
e
f
u
zz
y
g
ain
s
ch
ed
u
lin
g
P
I
D
co
n
tr
o
l
f
o
r
p
o
s
itio
n
o
f
th
e
AR
.
Dr
o
n
e
b
as
ed
o
n
o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
is
r
esear
c
h
is
m
o
ti
v
ated
b
y
t
h
e
f
ac
t
t
h
at
in
n
o
n
-
lin
ea
r
s
y
s
te
m
,
a
s
i
n
g
le
s
et
o
f
P
I
D
g
ain
w
ill
o
n
l
y
b
e
s
u
itab
le
f
o
r
a
g
iv
e
n
o
p
er
atin
g
p
o
in
t.
W
h
en
t
h
e
air
cr
af
t,
in
th
is
ca
s
e
th
e
A
R
.
Dr
o
n
e,
f
l
y
o
n
a
d
i
f
f
er
en
t
o
p
er
atin
g
p
o
in
t,
it
w
o
u
ld
r
eq
u
ir
e
a
d
i
f
f
er
e
n
t
P
I
D
g
ai
n
.
I
n
o
r
d
er
to
m
ak
e
t
h
e
d
r
o
n
e
f
l
y
to
m
u
lti
p
le
o
p
er
atin
g
p
o
in
ts
,
m
u
ltip
l
e
s
ets
o
f
P
I
D
g
ain
i
s
r
eq
u
ir
ed
.
T
h
e
s
ch
ed
u
li
n
g
m
ec
h
a
n
i
s
m
is
n
ee
d
ed
in
o
r
d
er
to
d
eter
m
i
n
e
t
h
e
P
I
D
g
ai
n
w
h
ich
is
ap
p
r
o
p
r
iat
e
f
o
r
th
e
cu
r
r
en
t
o
p
er
atin
g
p
o
in
t.
On
ce
t
h
e
n
e
w
o
p
er
atin
g
p
o
in
t
is
d
etec
ted
,
th
e
P
I
D
g
ai
n
s
ca
n
b
e
ch
a
n
g
ed
to
t
h
e
ap
p
r
o
p
r
ia
te
v
al
u
es.
T
h
e
g
ai
n
s
ch
ed
u
ler
co
n
s
i
s
ts
o
f
m
u
lt
ip
le
s
ets
o
f
P
I
D
g
ai
n
a
n
d
th
e
lo
g
i
c
f
o
r
d
etec
tin
g
th
e
o
p
er
atin
g
p
o
in
t
an
d
ch
o
o
s
i
n
g
th
e
c
o
r
r
esp
o
n
d
in
g
v
a
lu
e
o
f
P
I
D
Gain
.
T
h
e
p
u
r
p
o
s
e
o
f
th
i
s
r
esear
ch
is
to
ex
p
er
i
m
e
n
t
t
h
e
i
m
p
le
m
en
ta
tio
n
o
f
f
u
zz
y
g
ai
n
s
ch
ed
u
li
n
g
P
I
D
co
n
tr
o
l
f
o
r
p
o
s
itio
n
co
n
tr
o
l
o
f
AR
.
Dr
o
n
e
i
n
t
h
e
lab
o
r
ato
r
y
.
I
n
th
is
r
esear
ch
,
a
s
t
h
e
g
ain
s
c
h
ed
u
ler
,
T
ak
ag
i
-
S
u
g
en
o
-
Kan
g
(
T
SK)
f
u
zz
y
lo
g
ic
i
s
u
s
ed
.
T
h
e
s
u
itab
le
P
I
D
g
ai
n
f
u
n
ct
io
n
f
o
r
s
o
m
e
o
p
er
atin
g
p
o
in
t
is
d
eter
m
i
n
ed
b
y
ex
p
er
i
m
en
tall
y
to
g
et
th
e
e
x
p
ec
ted
tr
an
s
ien
t
r
esp
o
n
s
e.
Fi
v
e
f
u
n
ctio
n
s
o
f
P
I
D
g
ain
r
ep
r
esen
t
f
i
v
e
o
p
er
atin
g
p
o
in
t
ar
e
u
s
ed
in
th
is
r
esear
c
h
.
T
h
is
r
esear
ch
s
h
o
w
s
t
h
at
th
e
g
ain
s
ch
ed
u
li
n
g
p
id
co
n
tr
o
l is su
cc
e
s
s
f
u
ll
y
ap
p
lied
to
A
R
.
Dr
o
n
e
p
o
s
itio
n
co
n
tr
o
l.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
B
a
s
ic
s
et
up
o
f
AR.
Dro
ne
T
h
is
r
esear
ch
u
s
es
L
ab
VI
E
W
s
o
f
t
w
ar
e
b
y
m
o
d
if
y
i
n
g
t
h
e
p
r
o
g
r
a
m
cr
ea
ted
b
y
[
2
]
.
T
h
is
p
r
o
g
r
a
m
u
s
e
s
co
m
m
u
n
icatio
n
a
n
d
b
asic
co
n
tr
o
l
f
o
r
A
R
.
Dr
o
n
e
b
y
u
t
ilizi
n
g
2
m
ai
n
V
ir
tu
a
l
I
n
s
tr
u
men
t
(
VI
)
th
at
is
A
R
Dro
n
e
P
o
ly
Ma
in
F
ly
an
d
A
R
Dro
n
e
R
ea
d
N
a
v
Da
ta
.
A
R
Dro
n
e
P
o
ly
Ma
in
F
ly
to
s
en
d
f
l
y
i
n
g
c
o
m
m
a
n
d
s
w
h
ile
A
R
Dro
n
e
R
ea
d
N
a
v
Da
ta
t
o
r
ec
e
iv
e
n
a
v
i
g
atio
n
d
ata
o
f
t
h
e
AR
.
Dr
o
n
e.
I
n
A
R
Dro
n
e
P
o
ly
Ma
in
F
ly
th
er
e
ar
e
4
s
tates,
n
a
m
el
y
SET
UP
,
A
T
R
E
F,
A
T
P
C
MD
,
an
d
W
A
T
C
HD
OG.
a.
State
SET
UP
is
u
s
ed
to
s
e
n
d
th
e
f
ir
s
t set o
f
d
ata
n
ee
d
ed
b
ef
o
r
e
A
R
.
Dr
o
n
e
s
tar
ts
f
l
y
i
n
g
.
T
h
e
d
ata
co
n
tai
n
ed
th
e
d
esire
d
A
R
.
Dr
o
n
e
f
l
y
in
g
s
p
ec
if
icatio
n
co
n
s
is
t
in
g
o
f
Dro
n
e
C
o
mma
n
d
P
o
r
t,
Dro
n
e
I
P
A
d
d
r
ess
,
Ho
me
C
o
mma
n
d
P
o
r
t,
Ma
x
A
ltit
u
d
e
(
m
)
,
Ma
x
P
itch
a
n
d
R
o
ll
A
n
g
le
(
d
eg
)
,
Ma
x
V
ert
ica
l
S
p
ee
d
(
m/
s
)
,
Ma
x
Ya
w
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
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n
g
I
SS
N:
2
0
8
8
-
8708
F
u
z
z
y
Ga
in
S
ch
ed
u
li
n
g
P
I
D
C
o
n
tr
o
l fo
r
P
o
s
itio
n
o
f t
h
e
A
R
.
Dro
n
e
(
A
g
u
n
g
P
r
a
yitn
o
)
1941
S
p
ee
d
(
d
eg
/s
)
,
F
lig
h
t
Mo
d
e,
Mo
u
n
ted
Hu
ll,
a
n
d
V
id
e
o
C
a
mera
.
T
h
e
d
ata
tr
an
s
m
is
s
io
n
e
n
d
s
w
it
h
a
n
A
T
*
FT
R
I
M
co
m
m
a
n
d
w
h
i
ch
is
u
s
e
f
u
l
f
o
r
d
eter
m
i
n
in
g
th
e
r
ef
er
en
ce
s
lo
p
e
o
f
th
e
g
r
o
u
n
d
.
AR
.
Dr
o
n
e
w
i
ll
o
n
l
y
b
e
r
ea
d
y
to
f
l
y
w
h
e
n
p
lac
ed
o
n
a
h
o
r
izo
n
tal
p
lan
e.
b.
State
A
T
R
E
F
s
e
n
d
s
co
m
m
a
n
d
s
r
elate
d
to
t
h
e
f
l
y
i
n
g
co
n
d
itio
n
s
o
f
AR
.
Dr
o
n
e,
s
u
ch
as
Fl
y
,
L
an
d
a
n
d
E
m
er
g
e
n
c
y
L
an
d
.
T
h
e
co
m
m
an
d
th
a
t
i
s
s
e
n
t
h
as
t
h
e
f
o
r
m
a
t
A
T*
R
E
F
=
[
S
eq
u
en
ce
]
,
[
A
r
g
u
men
t
]
<C
R
>.
T
h
e
s
eq
u
en
ce
is
th
e
s
eq
u
e
n
ce
n
u
m
b
er
o
f
th
e
co
m
m
a
n
d
,
A
R
.
Dr
o
n
e
s
i
m
p
l
y
ex
ec
u
te
s
a
co
m
m
an
d
th
at
h
a
s
a
s
eq
u
en
ce
n
u
m
b
er
lar
g
er
th
a
n
th
e
p
r
ev
io
u
s
s
eq
u
e
n
ce
n
u
m
b
er
s
o
A
R
.
Dr
o
n
e
d
o
es
n
o
t
r
e
-
d
o
th
e
p
r
e
v
io
u
s
co
m
m
a
n
d
.
T
h
e
p
r
o
g
r
am
u
s
ed
in
th
is
s
t
u
d
y
u
s
e
s
s
eq
u
e
n
ce
n
u
m
b
er
s
u
p
to
1
0
0
an
d
w
il
l
b
e
r
eset
to
1
w
h
e
n
it
r
ea
ch
es
1
0
0
.
T
h
e
ar
g
u
m
e
n
t
i
s
a
3
2
-
b
it
i
n
te
g
er
w
it
h
ea
c
h
b
it
h
av
i
n
g
it
s
o
w
n
f
u
n
ctio
n
.
B
its
0
th
r
o
u
g
h
7
ar
e
n
o
t u
s
ed
an
d
h
av
e
a
v
al
u
e
o
f
0
.
B
it 8
is
u
s
ed
to
s
et
t
h
e
e
m
er
g
en
c
y
lan
d
m
o
d
e
b
y
g
iv
i
n
g
a
v
alu
e
o
f
1
.
W
h
e
n
b
it
8
is
0
th
en
AR
.
Dr
o
n
e
is
in
n
o
r
m
al
m
o
d
e
an
d
r
ea
d
y
to
ac
ce
p
t
th
e
co
m
m
a
n
d
.
E
m
er
g
e
n
c
y
lan
d
m
o
d
e
is
a
co
n
d
itio
n
w
h
er
e
A
R
.
Dr
o
n
e
w
i
ll
tu
r
n
o
f
f
th
e
e
n
tire
m
o
to
r
w
i
th
o
u
t
r
eg
ar
d
to
th
e
g
i
v
en
co
m
m
an
d
.
B
it
9
is
u
s
ed
to
s
et
th
e
f
l
y
o
r
lan
d
m
o
d
e
o
f
A
R
.
Dr
o
n
e.
W
h
en
b
it
9
is
s
et
1
th
e
n
A
R
.
Dr
o
n
e
i
s
o
r
d
er
ed
to
f
ly
a
n
d
v
ice
v
er
s
a
w
h
en
s
e
t
0
th
en
AR
.
Dr
o
n
e
w
ill
m
a
k
e
a
lan
d
i
n
g
.
B
its
1
0
th
r
o
u
g
h
3
1
ar
e
n
o
t
u
s
ed
an
d
h
av
e
a
f
i
x
ed
v
al
u
e
o
f
"
0
0
0
0
0
0
0
0
1
0
1
0
1
0
1
0
1
0
"
.
c.
St
ate
A
T
P
C
MD
is
u
s
ef
u
l
f
o
r
s
en
d
in
g
co
m
m
a
n
d
s
f
o
r
AR
.
Dr
o
n
e
to
m
o
v
e
o
r
m
a
n
eu
v
er
w
it
h
p
itch
,
r
o
ll,
y
a
w
an
d
th
r
o
ttle.
T
h
e
f
o
r
m
at
o
f
th
e
co
m
m
a
n
d
is
A
T
*
P
C
MD
=
[
Seq
u
en
ce
]
,
[
Fla
g
]
,
[
R
o
ll],
[
P
itch
]
,
[
T
h
r
o
ttle]
,
[
Ya
w
]
<
C
R
>.
T
h
e
s
eq
u
e
n
ce
is
t
h
e
s
eq
u
e
n
ce
n
u
m
b
er
o
f
th
e
co
m
m
a
n
d
,
AR
.
Dr
o
n
e
s
i
m
p
l
y
ex
ec
u
tes
a
co
m
m
a
n
d
th
at
h
as
a
s
eq
u
en
ce
n
u
m
b
er
lar
g
er
th
a
n
th
e
p
r
ev
i
o
u
s
s
eq
u
e
n
ce
n
u
m
b
er
s
o
AR
.
Dr
o
n
e
d
o
es
n
o
t
re
-
d
o
th
e
p
r
ev
io
u
s
co
m
m
an
d
.
T
h
e
p
r
o
g
r
am
u
s
ed
in
t
h
is
s
t
u
d
y
u
s
es
s
eq
u
en
ce
n
u
m
b
er
s
u
p
to
1
0
0
an
d
w
il
l
b
e
r
eset
to
1
w
h
e
n
it
r
ea
c
h
es
1
0
0
.
B
it
0
is
u
s
ed
to
s
elec
t
p
itc
h
,
r
o
ll,
an
d
y
a
w
co
m
m
an
d
s
s
e
n
t
to
A
R
.
Dr
o
n
e
o
r
j
u
s
t
h
o
v
er
in
p
lace
.
C
h
a
n
g
i
n
g
t
h
e
b
it
v
alu
e
to
0
m
ea
n
s
AR
.
Dr
o
n
e
is
in
h
o
v
er
m
o
d
e,
an
d
ch
an
g
i
n
g
it
s
v
alu
e
to
1
m
ea
n
s
AR
.
Dr
o
n
e
c
an
p
er
f
o
r
m
tr
an
s
latio
n
a
l
a
n
d
r
o
tatio
n
al
m
o
v
e
m
e
n
ts
in
th
e
f
i
eld
s
o
f
X
an
d
Y.
B
it
1
is
u
s
ed
to
i
n
s
tr
u
ct
AR
.
Dr
o
n
e
to
p
r
o
ce
s
s
r
o
ll,
p
itch
,
y
a
w
,
a
n
d
th
r
o
ttle
ar
g
u
m
e
n
t
s
f
illed
w
i
th
th
e
d
esire
d
v
alu
es
f
o
r
A
R
.
Dr
o
n
e
m
an
e
u
v
er
s
.
T
h
e
m
in
i
m
u
m
v
al
u
e
f
o
r
ea
ch
ar
g
u
m
e
n
t
is
-
1
,
with
a
m
a
x
i
m
u
m
v
alu
e
o
f
1
.
T
h
ese
v
a
l
u
es
n
ee
d
to
b
e
co
n
v
er
ted
f
ir
s
t
i
n
to
h
ex
ad
ec
i
m
al
n
u
m
b
er
s
a
n
d
co
n
v
er
ted
b
ac
k
to
32
-
b
it d
ec
i
m
al
n
u
m
b
er
s
.
d.
State
W
A
T
C
HDOG
i
s
a
s
tate
ass
ig
n
ed
to
s
en
d
co
m
m
an
d
s
o
f
A
T
*
C
OM
W
DG.
T
h
e
co
m
m
an
d
d
o
es
n
o
t
r
eq
u
ir
e
an
y
ar
g
u
m
e
n
t
s
,
as
it
o
n
l
y
s
er
v
es
to
k
ee
p
th
e
co
n
n
ec
t
io
n
b
et
w
ee
n
th
e
co
m
p
u
ter
an
d
A
R
.
Dr
o
n
e.
A
T
*
C
OM
W
DG
co
m
m
a
n
d
s
m
u
s
t
b
e
s
en
t
at
lea
s
t
e
v
er
y
3
0
0
m
s
(
0
.
3
s
ec
o
n
d
s
)
.
I
f
AR
.
Dr
o
n
e
d
o
es
n
o
t
r
ec
eiv
e
th
e
co
m
m
a
n
d
w
it
h
i
n
a
p
er
io
d
o
f
m
o
r
e
th
an
3
0
0
m
s
,
t
h
en
t
h
e
co
m
m
an
d
s
e
n
ter
ed
in
to
AR
.
Dr
o
n
e
w
ill
b
e
ig
n
o
r
ed
b
ec
au
s
e
AR
.
Dr
o
n
e
a
s
s
u
m
e
s
th
a
t
th
e
co
n
n
ec
tio
n
b
et
w
ee
n
AR
.
Dr
o
n
e
an
d
t
h
e
co
n
tr
o
ller
is
b
ein
g
d
is
co
n
n
ec
ted
.
T
h
e
p
r
o
g
r
a
m
cr
ea
ted
f
o
r
th
i
s
s
tu
d
y
o
f
W
A
T
C
HDOG
s
tates
is
s
en
t
ev
er
y
1
5
0
m
s
,
a
s
s
u
m
in
g
th
at
i
f
th
e
s
e
n
d
in
g
co
m
m
a
n
d
i
s
i
n
ter
r
u
p
ted
an
d
A
T
*
C
OM
W
DG
is
n
o
t r
ec
ei
v
ed
b
y
A
R
.
Dr
o
n
e
t
h
en
s
e
n
d
in
g
co
m
m
a
n
d
s
a
t
s
u
b
s
eq
u
e
n
t
in
te
r
v
als
(
3
0
0
m
s
)
m
a
y
p
r
e
v
en
t
d
is
r
u
p
tio
n
o
f
co
n
n
ec
tio
n
s
b
et
w
ee
n
co
m
p
u
ter
s
an
d
AR
.
Dr
o
n
e
.
2
.
2
.
T
he
f
uzzy
g
a
in s
chedu
lin
g
P
I
D
c
o
ntr
o
l
T
h
e
f
u
zz
y
g
a
in
s
ch
ed
u
li
n
g
P
I
D
co
n
tr
o
l
s
y
s
te
m
s
c
h
e
m
e
i
s
i
m
p
le
m
e
n
ted
o
n
th
e
AR
Dr
o
n
e
is
s
h
o
w
n
in
Fig
u
r
e
1
.
T
h
e
m
o
v
e
m
e
n
t
o
f
d
r
o
n
e
to
th
e
p
o
s
itio
n
x
,
y
a
n
d
z
ar
e
co
n
tr
o
lled
b
y
3
co
n
tr
o
ller
s
;
ea
ch
co
n
tr
o
ls
t
h
e
p
itch
,
r
o
ll
an
d
v
er
tical
r
ate.
T
h
e
P
I
D
co
n
tr
o
ller
s
ar
e
u
s
ed
a
s
th
e
m
a
in
co
n
tr
o
ller
.
W
h
ile
f
u
zz
y
is
u
s
ed
a
s
t
h
e
s
ch
ed
u
ler
o
f
th
e
g
a
in
p
ar
a
m
et
er
s
o
f
P
I
D
co
r
r
esp
o
n
d
in
g
to
ea
r
n
o
p
er
atin
g
p
o
in
t
o
f
d
r
o
n
es,
ev
al
u
ated
o
n
t
h
e
er
r
o
r
p
o
s
itio
n
.
E
ac
h
f
u
zz
y
g
ai
n
s
c
h
ed
u
lin
g
P
I
D
b
lo
ck
h
as
t
h
e
s
a
m
e
s
c
h
e
m
e.
Fi
g
u
r
e
2
s
h
o
w
s
th
e
F
u
zz
y
g
ai
n
s
ch
ed
u
lin
g
P
I
D
f
o
r
x
p
o
s
itio
n
.
Fo
r
y
p
o
s
itio
n
an
d
z
p
o
s
itio
n
h
a
v
e
id
e
n
tical
s
c
h
e
m
e.
T
h
is
b
lo
ck
co
n
s
is
t
s
o
f
P
I
D
s
ig
n
al
s
an
d
F
u
zz
y
s
ch
e
d
u
ler
.
Fo
r
th
e
P
I
D
co
n
tr
o
l,
th
e
g
e
n
er
al
eq
u
atio
n
o
f
t
h
e
co
n
tr
o
ller
is
u
s
ed
as sh
o
w
n
(
1
)
:
(
)
(
)
∫
(
)
(
)
(
1
)
w
h
er
e:
: P
r
o
p
o
r
tio
n
al
C
o
n
s
ta
n
t
: I
n
teg
r
al
C
o
n
s
ta
n
t
: D
er
iv
ati
v
e
C
o
n
s
ta
n
t
T
ak
ag
i
-
S
u
g
en
o
-
Ka
n
g
(
T
SK)
m
o
d
el
is
u
s
ed
as
a
f
u
z
z
y
s
c
h
ed
u
ler
.
T
h
e
r
u
le
s
o
f
T
SK
m
o
d
el
ar
e
s
h
o
w
n
in
(
2
)
.
(
)
(
2)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
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lec
&
C
o
m
p
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n
g
,
Vo
l.
8
,
No
.
4
,
A
u
g
u
s
t 2
0
1
8
:
1
9
3
9
–
1
9
4
6
1942
w
h
er
e
(
)
ar
e
f
u
n
ctio
n
s
.
I
n
th
e
f
u
zz
y
s
c
h
ed
u
ler
,
er
r
o
r
p
o
s
itio
n
,
(
)
,
ar
e
u
s
ed
as
th
e
in
p
u
ts
w
h
ich
w
i
ll
b
e
f
u
zz
i
f
ied
in
to
5
m
e
m
b
er
s
h
ip
s
f
u
n
ctio
n
;
NB
:Neg
ati
v
e
B
i
g
(
-
1
≤
e
≤
-
0
.
5
)
,
NS:Neg
at
iv
e
S
m
all
(
-
0
.
5
≤
e
≤
0
)
,
Z
:
Z
er
o
(
-
0
.
5
≥
e≤
0
.
5
)
,
P
S:P
o
s
itiv
e
S
m
a
ll
(
0
≤
e
≤
0
.
5
)
an
d
P
B
:
P
o
s
itiv
e
B
ig
(
0
.
5
≤
e
≤
1
)
.
R
u
les
ev
a
lu
atio
n
ar
e
d
ef
in
ed
b
y
u
s
i
n
g
(
2
)
,
w
h
er
e
(
)
ar
e
P
I
D
eq
u
atio
n
i
n
(
1
)
b
ased
o
n
d
ef
i
n
ed
o
p
er
atin
g
p
o
in
t
s
.
T
h
e
o
p
er
atin
g
p
o
in
t
s
ar
e
r
ep
r
esen
ted
in
f
i
v
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
ab
o
v
e.
T
h
is
r
esea
r
ch
u
s
in
g
f
i
v
e
s
a
m
e
r
u
le
s
f
o
r
an
d
p
o
s
itio
n
co
n
tr
o
l a
s
f
o
llo
w
s
:
(
)
(
)
∫
(
)
(
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(
4
)
(
)
(
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∫
(
)
(
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(
5
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(
)
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∫
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)
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6
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)
(
)
∫
(
)
(
)
(
7
)
(
)
(
)
∫
(
)
(
)
(
8)
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
a
m
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u
zz
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g
ain
s
ch
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li
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g
P
I
D
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o
n
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s
y
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te
m
Fig
u
r
e
2
.
Fu
zz
y
g
ai
n
s
c
h
ed
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li
n
g
P
I
D
s
ch
e
m
e
f
o
r
-
p
o
s
itio
n
E
ac
h
r
u
le
r
ep
r
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ts
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n
e
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p
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atin
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p
o
in
t
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ic
h
is
ex
p
r
ess
e
d
in
o
n
e
s
et
P
I
D
p
ar
am
eter
,
(
)
,
f
o
r
m
i
n
g
a
P
I
D
eq
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atio
n
.
T
h
es
e
p
ar
am
eter
s
p
r
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u
ce
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ex
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Dr
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ca
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wr
itten
a
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w
s
,
Evaluation Warning : The document was created with Spire.PDF for Python.
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f t
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n
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g
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w
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h
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p
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ce
d
u
r
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o
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n
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d
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eter
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tatio
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h
as p
r
ep
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a
p
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w
it
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n
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te
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ata
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t p
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ce
to
th
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ef
in
ed
o
p
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atin
g
p
o
in
t
s
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c.
AR
.
Dr
o
n
e
i
s
f
lo
w
n
a
u
to
n
o
m
o
u
s
l
y
b
y
u
s
i
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P
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n
tr
o
ller
s
etp
o
in
t 1
m
e
ter
f
r
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m
co
o
r
d
in
ate
(
0
,
0
,
1
)
to
(
1
,
0
,
1
)
w
it
h
a
p
ar
ticu
lar
.
T
h
e
d
ata
o
f
d
r
o
n
e
is
s
to
r
ed
an
d
th
e
tr
a
n
s
ien
t
r
esp
o
n
s
e
is
a
n
al
y
ze
d
,
in
th
is
ca
s
e
th
e
r
is
e
ti
m
e
a
n
d
th
e
o
v
er
s
h
o
o
t.
I
t
r
ep
ea
ts
5
ti
m
es.
P
er
f
o
r
m
t
h
i
s
s
tep
u
s
in
g
s
e
v
er
al
an
d
s
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th
a
t
p
r
o
v
id
e
th
e
ex
p
ec
ted
tr
an
s
ie
n
t
r
esp
o
n
s
e.
d.
AR
.
Dr
o
n
e
is
f
lo
w
n
a
u
to
n
o
m
o
u
s
l
y
u
s
in
g
P
I
-
co
n
tr
o
ller
w
it
h
v
alu
es
o
b
tain
ed
in
s
tep
3
an
d
a
p
ar
ticu
lar
f
r
o
m
co
o
r
d
in
ate
(
0
,
0
,
1
)
to
(
1
,
0
,
1
)
.
T
h
e
d
ata
o
f
d
r
o
n
e
is
s
to
r
ed
an
d
th
e
tr
an
s
ien
t
r
esp
o
n
s
e
is
a
n
al
y
ze
d
,
in
th
is
ca
s
e
t
h
e
r
is
e
ti
m
e
a
n
d
th
e
o
v
er
s
h
o
o
t.
I
t
r
ep
ea
ts
5
ti
m
es.
P
er
f
o
r
m
th
is
s
tep
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s
i
n
g
s
ev
er
al
an
d
s
elec
t
th
at
p
r
o
v
id
e
th
e
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p
ec
t
ed
tr
an
s
ien
t r
esp
o
n
s
e.
e.
AR
.
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o
n
e
is
f
lo
w
n
a
u
to
n
o
m
o
u
s
l
y
u
s
in
g
P
I
D
-
co
n
tr
o
ller
w
it
h
an
d
v
alu
es
o
b
tain
ed
in
s
te
p
3
,
4
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d
a
p
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ticu
lar
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r
o
m
co
o
r
d
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ate
(
0
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0
,
1
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o
(
1
,
0
,
1
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.
T
h
e
d
ata
o
f
d
r
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n
e
is
s
to
r
ed
an
d
th
e
tr
an
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ie
n
t
r
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o
n
s
e
is
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al
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ze
d
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th
is
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s
e
th
e
r
is
e
ti
m
e
an
d
th
e
o
v
er
s
h
o
o
t.
I
t
r
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p
ea
ts
5
tim
es.
P
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f
o
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m
th
i
s
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al
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d
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t
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at
p
r
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v
id
e
th
e
ex
p
ec
ted
tr
an
s
ien
t r
esp
o
n
s
e
f.
P
er
f
o
r
m
s
tep
3
,
4
an
d
5
w
it
h
s
e
tp
o
in
t p
o
s
itio
n
o
f
0
.
5
m
eter
.
g.
Fo
r
-
1
m
eter
p
o
s
itio
n
u
s
e
t
h
e
r
esu
lt
f
r
o
m
s
tep
5
,
w
h
er
ea
s
f
o
r
-
0
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5
m
eter
p
o
s
itio
n
u
s
e
th
e
r
e
s
u
lt
o
f
s
tep
6
.
I
t
h
as b
ee
n
co
n
f
ir
m
ed
b
y
a
n
u
m
b
er
o
f
atte
m
p
ts
w
h
ich
r
es
u
lted
in
r
elativ
e
l
y
s
i
m
ilar
r
esp
o
n
s
e.
h.
On
0
m
eter
p
o
s
itio
n
,
an
d
is
0
(
ze
r
o
)
i.
T
ab
u
late
th
e
v
alu
e
o
f
,
an
d
f
o
r
ea
ch
p
o
s
itio
n
r
ep
r
esen
tin
g
t
h
e
m
e
m
b
er
s
h
ip
f
u
n
c
tio
n
T
h
e
r
esu
lt
o
f
P
I
D
p
ar
a
m
et
er
s
g
ai
n
ed
b
y
ex
p
er
i
m
en
ta
l
l
y
at
ea
ch
o
p
er
ati
n
g
p
o
i
n
t
ca
n
b
e
tab
u
lated
in
T
ab
le
2
.
T
ab
le
2
.
T
h
e
PID
P
ar
am
eter
s
G
a
i
n
O
p
e
r
a
t
i
n
g
P
o
i
n
t
s
[
m]
P
I
D
G
a
i
n
P
i
t
c
h
R
o
l
l
T
h
r
o
t
t
l
e
C
o
r
r
e
sp
o
n
d
s
t
o
P
K
I
K
D
K
R
u
l
e
s
I
-
1
1
.
6
0
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0
0
5
0
.
2
5
B
a
c
k
w
a
r
d
L
e
f
t
D
o
w
n
NB
1
R
II
-
0
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5
0
.
5
0
.
0
0
7
1
B
a
c
k
w
a
r
d
L
e
f
t
D
o
w
n
NS
2
R
III
0
0
0
0
H
o
v
e
r
H
o
v
e
r
H
o
v
e
r
Z
3
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IV
0
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5
0
.
5
0
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0
0
7
1
F
o
r
w
a
r
d
R
i
g
h
t
Up
PS
4
R
V
1
1
.
6
0
.
0
0
5
0
.
2
5
F
o
r
w
a
r
d
R
i
g
h
t
Up
PB
5
R
Fo
r
r
u
les th
e
f
u
n
ctio
n
ca
n
b
e
co
m
b
i
n
ed
to
g
et
a
f
u
n
ctio
n
,
as
an
o
u
tp
u
t o
f
th
e
co
n
tr
o
ller
,
as
f
o
llo
w
s
(
)
(
)
(
)
(
)
(
)
(
)
(
)
(
)
(
)
(
)
(
3)
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
Fu
zz
y
g
ai
n
s
c
h
ed
u
l
in
g
P
I
D
alg
o
r
ith
m
h
a
s
b
ee
n
d
esi
g
n
ed
to
b
e
im
p
le
m
e
n
ted
o
n
th
e
AR
.
Dr
o
n
e
2
.
0
E
lite
E
d
itio
n
an
d
test
ed
in
d
o
o
r
.
T
h
e
test
in
g
r
o
o
m
s
ize
6
m
x
6
m
x
4
m
w
it
h
a
f
lo
o
r
m
ad
e
o
f
s
tr
ip
ed
lin
e
f
o
r
th
e
d
r
o
n
e
u
s
e
its
b
o
tto
m
ca
m
er
a
to
esti
m
ate
an
d
p
o
s
itio
n
in
f
lig
h
t.
W
h
ile
th
e
p
o
s
itio
n
u
s
in
g
u
ltra
s
o
n
ic
s
en
s
o
r
s
p
r
o
v
id
ed
o
n
b
o
ar
d
th
e
d
r
o
n
e.
T
o
test
th
e
f
u
zz
y
g
a
in
s
ch
ed
u
lin
g
P
I
D
alg
o
r
ith
m
,
AR
.
Dr
o
n
e
w
as
f
lo
w
n
p
o
in
t
to
p
o
in
t
to
w
ar
d
th
e
x
-
ax
i
s
f
r
o
m
th
e
i
n
itial
co
o
r
d
in
ates
[
0
,
0
,
1
]
to
th
e
co
o
r
d
in
ates
[
1
,
0
,
1
]
.
T
h
e
s
am
e
test
i
s
also
d
o
n
e
u
s
i
n
g
P
I
D
co
n
tr
o
lle
r
alg
o
r
ith
m
.
T
h
e
r
esp
o
n
s
e
o
f
AR
.
Dr
o
n
e
w
i
ll
b
e
co
m
p
ar
ed
w
it
h
th
e
tes
t
r
es
u
lt
s
u
s
i
n
g
P
I
D
co
n
tr
o
ller
.
T
h
e
r
esu
lts
o
f
b
o
th
ar
e
co
m
p
ar
ed
an
d
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
Fro
m
th
e
t
est
r
esu
l
ts
s
ee
n
th
a
t
AR
.
Dr
o
n
e
w
i
th
P
I
D
co
n
tr
o
ller
ten
d
to
e
x
p
er
ien
ce
o
v
er
s
h
o
o
t
ap
p
r
o
x
im
a
tel
y
2
0
%.
W
h
ile
AR
.
Dr
o
n
e
w
it
h
f
u
zz
y
g
ain
s
ch
ed
u
li
n
g
P
I
D
g
i
v
es
b
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4.
CO
NCLU
SI
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.
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r
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r
.
RE
F
E
R
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NC
E
S
[1
]
P
.
J.
Bristea
u
,
e
t
a
l.
,
“
T
h
e
Na
v
ig
a
t
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d
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c
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M
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th
IFA
C
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,
2
0
1
1
.
[2
]
M.
M
o
g
e
n
so
n
,
“
T
h
e
A
R
.
Dro
n
e
Lab
V
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T
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o
lk
it
:
A
S
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f
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r
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m
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Co
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w
Co
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Qu
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Ro
b
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ts
,
”
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ste
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f
S
c
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e
T
h
e
sis,
M
e
c
h
a
n
ic
a
l
E
n
g
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n
e
e
rin
g
,
T
UFT
S
Un
iv
e
rsit
y
,
2
0
1
2
.
[3
]
A
.
P
ra
y
it
n
o
,
V
.
In
d
ra
w
a
ti
a
n
d
G
.
Uto
m
o
,
“
T
r
a
jec
to
r
y
T
ra
c
k
in
g
o
f
A
R.
Dro
n
e
Qu
a
d
ro
to
r
Us
i
n
g
F
u
z
z
y
L
o
g
ic
Co
n
tr
o
ll
e
r,
”
J
o
u
rn
a
l
T
e
lko
m
n
ika
,
v
o
l.
12
,
no.
4
,
p
p
.
8
1
9
-
8
2
8
,
De
c
.
2
0
1
4
.
[4
]
V
.
In
d
ra
w
a
ti
,
A
.
P
ra
y
it
n
o
a
n
d
T
.
A
.
Ku
su
m
a
,
“
Wa
y
p
o
in
t
Na
v
ig
a
ti
o
n
o
f
A
R.
Dro
n
e
Qu
a
d
ro
to
r
Us
in
g
F
u
z
z
y
L
o
g
ic
Co
n
tr
o
ll
e
r,
”
J
o
u
rn
a
l
T
e
lko
m
n
ika
,
v
o
l
.
13
,
no.
3
,
p
p
.
9
3
0
-
9
3
9
,
S
e
p
.
2
0
1
5
.
[5
]
V
.
In
d
ra
w
a
ti
,
e
t
a
l.
,
“
Co
m
p
a
riso
n
o
f
Tw
o
F
u
z
z
y
L
o
g
i
c
Co
n
tro
ll
e
r
S
c
h
e
m
e
s
f
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r
P
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si
ti
o
n
C
o
n
tr
o
l
o
f
A
R.
Dro
n
e
,
”
7
th
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
I
n
fo
r
ma
ti
o
n
T
e
c
h
n
o
l
o
g
y
a
n
d
El
e
c
trica
l
En
g
in
e
e
rin
g
(
ICIT
EE
)
,
2
0
1
5
.
[6
]
A
.
P
ra
y
it
n
o
,
e
t
a
l.
,
“
Co
m
p
a
riso
n
o
f
P
ID an
d
F
u
z
z
y
Co
n
tro
ll
e
r
f
o
r
P
o
siti
o
n
C
o
n
tr
o
l
o
f
A
R.
Dro
n
e
,
”
IOP
Co
n
f
.
S
e
rie
s:
M
a
ter
ia
l
S
c
ien
c
e
a
n
d
En
g
i
n
e
e
rin
g
,
v
o
l.
1
9
0
,
2
0
1
7
.
[7
]
S
.
Y.
T
a
n
g
,
“
V
isio
n
-
Ba
se
d
C
o
n
tr
o
l
f
o
r
A
u
to
n
o
m
o
u
s
Qu
a
d
r
o
to
r
,
”
Fi
n
a
l
Rep
o
rt
:U
n
d
e
rg
ra
d
u
a
ted
S
e
n
io
r
T
h
e
sis
,
De
p
a
rtme
n
t
o
f
M
e
c
h
a
n
ic
a
l
a
n
d
A
e
ro
sp
a
c
e
En
g
in
e
e
rin
g
,
P
rin
c
e
to
n
Un
iv
e
rsit
y
,
2
0
1
3
.
[8
]
R.
A
b
b
a
s
a
n
d
Q.
W
u
,
“
Im
p
ro
v
e
d
L
e
a
d
e
r
F
o
ll
o
w
e
r
F
o
rm
a
ti
o
n
C
o
n
tr
o
l
f
o
r
M
u
lt
ip
le
Qu
a
d
r
o
to
rs
Ba
se
d
A
F
S
A
,
”
J
o
u
rn
a
l
T
e
lko
m
n
ika
,
v
o
l.
13
,
n
o
.
1
,
p
p
.
85
-
9
2
,
M
a
r.
2
0
1
5
.
[9
]
E.
A
.
S
e
id
a
b
a
d
,
S
.
V
a
n
d
a
k
i
a
n
d
A
.
V
.
Ka
m
y
a
d
,
“
De
sig
n
in
g
F
u
z
z
y
P
ID
Co
n
tro
l
ler
f
o
r
Qu
a
d
r
o
t
o
r
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
A
d
v
a
n
c
e
d
Res
e
a
rc
h
in
Co
mp
u
ter
S
c
ien
c
e
&
T
e
c
h
n
o
lo
g
y
(
IJ
AR
CS
T
)
,
v
o
l.
2
,
n
o
.
4
,
p
p
.
2
2
1
-
2
2
7
,
2
0
1
4
.
[1
0
]
D.
G
a
u
ta
m
a
n
d
C.
Ha
,
“
Co
n
tr
o
l
o
f
a
Qu
a
d
ro
t
o
r
Us
in
g
a
S
m
a
rt
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e
lf
-
T
u
n
in
g
F
u
z
z
y
P
ID
C
o
n
tr
o
ll
e
r
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
A
d
Va
n
c
e
d
R
o
b
o
ti
c
S
y
s
tem
s
,
v
o
l.
1
0
,
p
p
.
1
-
9
,
2
0
1
3
.
[1
1
]
H
.
Nasu
tio
n
,
“
Dev
elo
p
m
en
t
o
f
f
u
zz
y
lo
g
ic
co
n
tr
o
l
f
o
r
v
eh
icle
air
co
n
d
itio
n
i
n
g
s
y
s
te
m
”
,
T
E
LK
OMN
I
K
A
(
Teleco
mmu
n
ica
tio
n
C
o
mp
u
tin
g
E
lectro
n
ics
a
n
d
C
o
n
t
r
o
l)
,
2
0
0
8
,
v
o
l.
6
,
n
o
.
2
,
p
p
.
73
-
8
2
[1
2
]
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.
P
ra
y
it
n
o
,
V
.
I
n
d
ra
w
a
ti
a
n
d
C.
A
rro
n
,
“
H
-
In
f
in
it
y
Co
n
tro
l
f
o
r
P
it
c
h
-
Ro
ll
A
R.
Dro
n
e
,
”
T
EL
KOM
NIKA
(
T
e
lec
o
mm
u
n
ica
ti
o
n
Co
mp
u
ti
n
g
El
e
c
tro
n
ics
a
n
d
C
o
n
tro
l)
,
v
o
l
.
14
,
no.
3
,
p
p
.
9
6
3
-
9
7
3
,
2
0
1
6
.
[1
3
]
A
.
Ha
z
z
a
b
i,
A
.
Lao
u
f
i,
I.
K.
Bo
u
s
se
rh
a
n
e
a
n
d
M
.
Ra
h
l
i,
“
Re
a
l
T
i
m
e
I
m
p
le
m
e
n
tatio
n
o
f
F
u
z
z
y
Ga
in
S
c
h
e
d
u
l
in
g
o
f
P
I
Co
n
tro
l
ler
f
o
r
In
d
u
c
ti
o
n
M
a
c
h
in
e
C
o
n
tr
o
l,
”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
A
p
p
li
e
d
E
n
g
in
e
e
rin
g
Res
e
a
rc
h
.
,
v
o
l.
1
,
no.
1
,
p
p
.
51
-
6
0
,
2
0
0
6
.
[1
4
]
F
.
U.
S
y
e
d
,
e
t
a
l.
,
“
F
u
z
z
y
G
a
in
-
S
c
h
e
d
u
li
n
g
P
ro
p
o
r
ti
o
n
a
l
-
In
teg
ra
l
Co
n
tr
o
l
f
o
r
Im
p
ro
v
in
g
E
n
g
in
e
P
o
w
e
r
a
n
d
S
p
e
e
d
Be
h
a
v
io
r
in
a
Hy
b
rid
El
e
c
tri
c
V
e
h
icle
,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
Veh
icu
la
r T
e
c
h
n
o
l
o
g
y
,
v
o
l.
5
8
,
2
0
0
9
.
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