id sid tid token lemma pos ajst-11951 1 1 academic academic ADJ ajst-11951 1 2 journal journal NOUN ajst-11951 1 3 of of ADP ajst-11951 1 4 science science NOUN ajst-11951 1 5 and and CCONJ ajst-11951 1 6 technology technology NOUN ajst-11951 1 7 issn issn NOUN ajst-11951 1 8 : : PUNCT ajst-11951 1 9 2771 2771 NUM ajst-11951 1 10 - - SYM ajst-11951 1 11 3032 3032 NUM ajst-11951 1 12 | | NOUN ajst-11951 1 13 vol vol NOUN ajst-11951 1 14 . . PROPN ajst-11951 2 1 7 7 NUM ajst-11951 2 2 , , PUNCT ajst-11951 2 3 no no INTJ ajst-11951 2 4 . . NOUN ajst-11951 2 5 2 2 NUM ajst-11951 2 6 , , PUNCT ajst-11951 2 7 2023 2023 NUM ajst-11951 2 8 101 101 NUM ajst-11951 2 9 pid pid NOUN ajst-11951 2 10 control control NOUN ajst-11951 2 11 algorithm algorithm NOUN ajst-11951 2 12 based base VERB ajst-11951 2 13 on on ADP ajst-11951 2 14 particle particle NOUN ajst-11951 2 15 swarm swarm NOUN ajst-11951 2 16 optimization optimization NOUN ajst-11951 2 17 for for ADP ajst-11951 2 18 quadrotor quadrotor PROPN ajst-11951 2 19 uav uav PROPN ajst-11951 2 20 with with ADP ajst-11951 2 21 tip tip NOUN ajst-11951 2 22 defect defect PROPN ajst-11951 2 23 zhenhao zhenhao PROPN ajst-11951 2 24 qin1 qin1 PROPN ajst-11951 2 25 , , PUNCT ajst-11951 2 26 a a DET ajst-11951 2 27 1lille 1lille NUM ajst-11951 2 28 college college NOUN ajst-11951 2 29 , , PUNCT ajst-11951 2 30 hohai hohai PROPN ajst-11951 2 31 university university PROPN ajst-11951 2 32 , , PUNCT ajst-11951 2 33 nanjing nanjing PROPN ajst-11951 2 34 , , PUNCT ajst-11951 2 35 jiangsu jiangsu PROPN ajst-11951 2 36 , , PUNCT ajst-11951 2 37 211100 211100 NUM ajst-11951 2 38 , , PUNCT ajst-11951 2 39 china china PROPN ajst-11951 2 40 ae ae PROPN ajst-11951 2 41 - - NOUN ajst-11951 2 42 mail mail NOUN ajst-11951 2 43 : : PUNCT ajst-11951 2 44 qzh974771@gmail.com qzh974771@gmail.com X ajst-11951 3 1 abstract abstract NOUN ajst-11951 3 2 : : PUNCT ajst-11951 3 3 for for ADP ajst-11951 3 4 the the DET ajst-11951 3 5 four four NUM ajst-11951 3 6 - - PUNCT ajst-11951 3 7 rotor rotor NOUN ajst-11951 3 8 uav uav PROPN ajst-11951 3 9 ( ( PUNCT ajst-11951 3 10 unmanned unmanned ADJ ajst-11951 3 11 aerial aerial ADJ ajst-11951 3 12 vehicle vehicle NOUN ajst-11951 3 13 ) ) PUNCT ajst-11951 3 14 , , PUNCT ajst-11951 3 15 blade blade NOUN ajst-11951 3 16 is be AUX ajst-11951 3 17 one one NUM ajst-11951 3 18 of of ADP ajst-11951 3 19 the the DET ajst-11951 3 20 most most ADV ajst-11951 3 21 important important ADJ ajst-11951 3 22 actuator actuator NOUN ajst-11951 3 23 , , PUNCT ajst-11951 3 24 the the DET ajst-11951 3 25 four four NUM ajst-11951 3 26 - - PUNCT ajst-11951 3 27 rotor rotor NOUN ajst-11951 3 28 uav uav PROPN ajst-11951 3 29 is be AUX ajst-11951 3 30 prone prone ADJ ajst-11951 3 31 to to PART ajst-11951 3 32 blade blade VERB ajst-11951 3 33 tip tip NOUN ajst-11951 3 34 defect defect NOUN ajst-11951 3 35 during during ADP ajst-11951 3 36 use use NOUN ajst-11951 3 37 , , PUNCT ajst-11951 3 38 which which PRON ajst-11951 3 39 will will AUX ajst-11951 3 40 directly directly ADV ajst-11951 3 41 affect affect VERB ajst-11951 3 42 the the DET ajst-11951 3 43 reasoning reasoning NOUN ajst-11951 3 44 size size NOUN ajst-11951 3 45 of of ADP ajst-11951 3 46 the the DET ajst-11951 3 47 four four NUM ajst-11951 3 48 - - PUNCT ajst-11951 3 49 rotor rotor NOUN ajst-11951 3 50 uav uav PROPN ajst-11951 3 51 , , PUNCT ajst-11951 3 52 resulting result VERB ajst-11951 3 53 in in ADP ajst-11951 3 54 the the DET ajst-11951 3 55 flight flight NOUN ajst-11951 3 56 quality quality NOUN ajst-11951 3 57 or or CCONJ ajst-11951 3 58 performance performance NOUN ajst-11951 3 59 decline decline NOUN ajst-11951 3 60 of of ADP ajst-11951 3 61 the the DET ajst-11951 3 62 four four NUM ajst-11951 3 63 - - PUNCT ajst-11951 3 64 rotor rotor NOUN ajst-11951 3 65 uav uav PROPN ajst-11951 3 66 , , PUNCT ajst-11951 3 67 ordinary ordinary ADJ ajst-11951 3 68 pid pid NOUN ajst-11951 3 69 control control NOUN ajst-11951 3 70 in in ADP ajst-11951 3 71 the the DET ajst-11951 3 72 case case NOUN ajst-11951 3 73 of of ADP ajst-11951 3 74 blade blade NOUN ajst-11951 3 75 tip tip NOUN ajst-11951 3 76 defect defect NOUN ajst-11951 3 77 , , PUNCT ajst-11951 3 78 it it PRON ajst-11951 3 79 can can AUX ajst-11951 3 80 still still ADV ajst-11951 3 81 be be AUX ajst-11951 3 82 optimized optimize VERB ajst-11951 3 83 by by ADP ajst-11951 3 84 other other ADJ ajst-11951 3 85 algorithms algorithm NOUN ajst-11951 3 86 . . PUNCT ajst-11951 4 1 in in ADP ajst-11951 4 2 this this DET ajst-11951 4 3 paper paper NOUN ajst-11951 4 4 , , PUNCT ajst-11951 4 5 particle particle NOUN ajst-11951 4 6 swarm swarm NOUN ajst-11951 4 7 optimization optimization NOUN ajst-11951 4 8 will will AUX ajst-11951 4 9 be be AUX ajst-11951 4 10 used use VERB ajst-11951 4 11 to to PART ajst-11951 4 12 optimize optimize VERB ajst-11951 4 13 pid pid NOUN ajst-11951 4 14 parameters parameter NOUN ajst-11951 4 15 in in ADP ajst-11951 4 16 the the DET ajst-11951 4 17 case case NOUN ajst-11951 4 18 of of ADP ajst-11951 4 19 tip tip NOUN ajst-11951 4 20 defect defect NOUN ajst-11951 4 21 of of ADP ajst-11951 4 22 quadrotor quadrotor PROPN ajst-11951 4 23 uav uav PROPN ajst-11951 4 24 , , PUNCT ajst-11951 4 25 and and CCONJ ajst-11951 4 26 simulation simulation NOUN ajst-11951 4 27 experiments experiment NOUN ajst-11951 4 28 will will AUX ajst-11951 4 29 be be AUX ajst-11951 4 30 conducted conduct VERB ajst-11951 4 31 in in ADP ajst-11951 4 32 matlab matlab PROPN ajst-11951 4 33 simulink simulink PROPN ajst-11951 4 34 to to PART ajst-11951 4 35 verify verify VERB ajst-11951 4 36 the the DET ajst-11951 4 37 reliability reliability NOUN ajst-11951 4 38 of of ADP ajst-11951 4 39 particle particle NOUN ajst-11951 4 40 swarm swarm NOUN ajst-11951 4 41 optimization optimization NOUN ajst-11951 4 42 by by ADP ajst-11951 4 43 comparing compare VERB ajst-11951 4 44 and and CCONJ ajst-11951 4 45 optimizing optimize VERB ajst-11951 4 46 data datum NOUN ajst-11951 4 47 curves curve NOUN ajst-11951 4 48 such such ADJ ajst-11951 4 49 as as ADP ajst-11951 4 50 forward forward ADJ ajst-11951 4 51 and and CCONJ ajst-11951 4 52 backward backward ADJ ajst-11951 4 53 roll roll NOUN ajst-11951 4 54 angle angle NOUN ajst-11951 4 55 and and CCONJ ajst-11951 4 56 yaw yaw NOUN ajst-11951 4 57 angle angle NOUN ajst-11951 4 58 . . PUNCT ajst-11951 5 1 keywords keyword NOUN ajst-11951 5 2 : : PUNCT ajst-11951 5 3 quadrotor quadrotor PROPN ajst-11951 5 4 uav uav PROPN ajst-11951 5 5 pid pid PROPN ajst-11951 5 6 control control PROPN ajst-11951 5 7 , , PUNCT ajst-11951 5 8 particle particle NOUN ajst-11951 5 9 swarm swarm NOUN ajst-11951 5 10 optimization optimization NOUN ajst-11951 5 11 , , PUNCT ajst-11951 5 12 tip tip NOUN ajst-11951 5 13 defect defect NOUN ajst-11951 5 14 . . PUNCT ajst-11951 6 1 1 1 X ajst-11951 6 2 . . X ajst-11951 6 3 introduction introduction NOUN ajst-11951 6 4 in in ADP ajst-11951 6 5 recent recent ADJ ajst-11951 6 6 years year NOUN ajst-11951 6 7 , , PUNCT ajst-11951 6 8 the the DET ajst-11951 6 9 rapid rapid ADJ ajst-11951 6 10 development development NOUN ajst-11951 6 11 of of ADP ajst-11951 6 12 uav uav PROPN ajst-11951 6 13 technology technology PROPN ajst-11951 6 14 has have AUX ajst-11951 6 15 shown show VERB ajst-11951 6 16 a a DET ajst-11951 6 17 wide wide ADJ ajst-11951 6 18 range range NOUN ajst-11951 6 19 of of ADP ajst-11951 6 20 application application NOUN ajst-11951 6 21 potential potential NOUN ajst-11951 6 22 in in ADP ajst-11951 6 23 many many ADJ ajst-11951 6 24 fields field NOUN ajst-11951 6 25 , , PUNCT ajst-11951 6 26 especially especially ADV ajst-11951 6 27 the the DET ajst-11951 6 28 four four NUM ajst-11951 6 29 - - PUNCT ajst-11951 6 30 rotor rotor NOUN ajst-11951 6 31 uav uav PROPN ajst-11951 6 32 , , PUNCT ajst-11951 6 33 as as ADP ajst-11951 6 34 an an DET ajst-11951 6 35 important important ADJ ajst-11951 6 36 vertical vertical ADJ ajst-11951 6 37 takeoff takeoff NOUN ajst-11951 6 38 and and CCONJ ajst-11951 6 39 landing land VERB ajst-11951 6 40 uav uav PROPN ajst-11951 6 41 , , PUNCT ajst-11951 6 42 has have AUX ajst-11951 6 43 gradually gradually ADV ajst-11951 6 44 become become VERB ajst-11951 6 45 an an DET ajst-11951 6 46 ideal ideal ADJ ajst-11951 6 47 platform platform NOUN ajst-11951 6 48 for for ADP ajst-11951 6 49 various various ADJ ajst-11951 6 50 tasks task NOUN ajst-11951 6 51 . . PUNCT ajst-11951 7 1 the the DET ajst-11951 7 2 four four NUM ajst-11951 7 3 - - PUNCT ajst-11951 7 4 rotor rotor NOUN ajst-11951 7 5 uav uav PROPN ajst-11951 7 6 has have VERB ajst-11951 7 7 the the DET ajst-11951 7 8 characteristics characteristic NOUN ajst-11951 7 9 of of ADP ajst-11951 7 10 good good ADJ ajst-11951 7 11 motion motion NOUN ajst-11951 7 12 performance performance NOUN ajst-11951 7 13 , , PUNCT ajst-11951 7 14 small small ADJ ajst-11951 7 15 size size NOUN ajst-11951 7 16 , , PUNCT ajst-11951 7 17 light light ADJ ajst-11951 7 18 weight weight NOUN ajst-11951 7 19 , , PUNCT ajst-11951 7 20 low low ADJ ajst-11951 7 21 price price NOUN ajst-11951 7 22 , , PUNCT ajst-11951 7 23 easy easy ADJ ajst-11951 7 24 manufacturing manufacturing NOUN ajst-11951 7 25 and and CCONJ ajst-11951 7 26 environmental environmental ADJ ajst-11951 7 27 friendliness friendliness NOUN ajst-11951 7 28 , , PUNCT ajst-11951 7 29 and and CCONJ ajst-11951 7 30 is be AUX ajst-11951 7 31 widely widely ADV ajst-11951 7 32 used use VERB ajst-11951 7 33 in in ADP ajst-11951 7 34 various various ADJ ajst-11951 7 35 fields field NOUN ajst-11951 7 36 , , PUNCT ajst-11951 7 37 such such ADJ ajst-11951 7 38 as as ADP ajst-11951 7 39 : : PUNCT ajst-11951 7 40 aerial aerial ADJ ajst-11951 7 41 photography photography NOUN ajst-11951 7 42 , , PUNCT ajst-11951 7 43 detection detection NOUN ajst-11951 7 44 , , PUNCT ajst-11951 7 45 urban urban ADJ ajst-11951 7 46 environmental environmental ADJ ajst-11951 7 47 monitoring monitoring NOUN ajst-11951 7 48 [ [ X ajst-11951 7 49 1 1 NUM ajst-11951 7 50 ] ] PUNCT ajst-11951 7 51 and and CCONJ ajst-11951 7 52 so so ADV ajst-11951 7 53 on on ADV ajst-11951 7 54 . . PUNCT ajst-11951 8 1 in in ADP ajst-11951 8 2 recent recent ADJ ajst-11951 8 3 years year NOUN ajst-11951 8 4 , , PUNCT ajst-11951 8 5 it it PRON ajst-11951 8 6 has have AUX ajst-11951 8 7 been be AUX ajst-11951 8 8 a a DET ajst-11951 8 9 research research NOUN ajst-11951 8 10 hotspot hotspot NOUN ajst-11951 8 11 in in ADP ajst-11951 8 12 the the DET ajst-11951 8 13 field field NOUN ajst-11951 8 14 of of ADP ajst-11951 8 15 aviation aviation NOUN ajst-11951 8 16 , , PUNCT ajst-11951 8 17 but but CCONJ ajst-11951 8 18 the the DET ajst-11951 8 19 production production NOUN ajst-11951 8 20 accuracy accuracy NOUN ajst-11951 8 21 of of ADP ajst-11951 8 22 quadrotor quadrotor PROPN ajst-11951 8 23 uav uav PROPN ajst-11951 8 24 is be AUX ajst-11951 8 25 high high ADJ ajst-11951 8 26 , , PUNCT ajst-11951 8 27 and and CCONJ ajst-11951 8 28 the the DET ajst-11951 8 29 failure failure NOUN ajst-11951 8 30 or or CCONJ ajst-11951 8 31 missing miss VERB ajst-11951 8 32 of of ADP ajst-11951 8 33 any any DET ajst-11951 8 34 component component NOUN ajst-11951 8 35 may may AUX ajst-11951 8 36 lead lead VERB ajst-11951 8 37 to to ADP ajst-11951 8 38 the the DET ajst-11951 8 39 performance performance NOUN ajst-11951 8 40 of of ADP ajst-11951 8 41 quadrotor quadrotor PROPN ajst-11951 8 42 uav uav PROPN ajst-11951 8 43 . . PUNCT ajst-11951 9 1 at at ADP ajst-11951 9 2 the the DET ajst-11951 9 3 same same ADJ ajst-11951 9 4 time time NOUN ajst-11951 9 5 , , PUNCT ajst-11951 9 6 the the DET ajst-11951 9 7 problem problem NOUN ajst-11951 9 8 of of ADP ajst-11951 9 9 flight flight NOUN ajst-11951 9 10 control control NOUN ajst-11951 9 11 of of ADP ajst-11951 9 12 four four NUM ajst-11951 9 13 - - PUNCT ajst-11951 9 14 rotor rotor NOUN ajst-11951 9 15 uavs uavs NOUN ajst-11951 9 16 remains remain VERB ajst-11951 9 17 one one NUM ajst-11951 9 18 of of ADP ajst-11951 9 19 the the DET ajst-11951 9 20 key key ADJ ajst-11951 9 21 challenges challenge NOUN ajst-11951 9 22 in in ADP ajst-11951 9 23 the the DET ajst-11951 9 24 field field NOUN ajst-11951 9 25 of of ADP ajst-11951 9 26 uavs uavs PROPN ajst-11951 9 27 . . PUNCT ajst-11951 10 1 for for ADP ajst-11951 10 2 four four NUM ajst-11951 10 3 - - PUNCT ajst-11951 10 4 rotor rotor NOUN ajst-11951 10 5 uavs uavs NOUN ajst-11951 10 6 , , PUNCT ajst-11951 10 7 blade blade NOUN ajst-11951 10 8 is be AUX ajst-11951 10 9 one one NUM ajst-11951 10 10 of of ADP ajst-11951 10 11 the the DET ajst-11951 10 12 most most ADV ajst-11951 10 13 important important ADJ ajst-11951 10 14 actuators actuator NOUN ajst-11951 10 15 and and CCONJ ajst-11951 10 16 an an DET ajst-11951 10 17 important important ADJ ajst-11951 10 18 component component NOUN ajst-11951 10 19 that that PRON ajst-11951 10 20 generates generates AUX ajst-11951 10 21 thrust thrust VERB ajst-11951 10 22 for for ADP ajst-11951 10 23 uavs uavs NOUN ajst-11951 10 24 . . PUNCT ajst-11951 11 1 however however ADV ajst-11951 11 2 , , PUNCT ajst-11951 11 3 due due ADP ajst-11951 11 4 to to ADP ajst-11951 11 5 factors factor NOUN ajst-11951 11 6 such such ADJ ajst-11951 11 7 as as ADP ajst-11951 11 8 excessive excessive ADJ ajst-11951 11 9 rotational rotational ADJ ajst-11951 11 10 speed speed NOUN ajst-11951 11 11 , , PUNCT ajst-11951 11 12 blade blade NOUN ajst-11951 11 13 often often ADV ajst-11951 11 14 vibrates vibrate VERB ajst-11951 11 15 during during ADP ajst-11951 11 16 rotation rotation NOUN ajst-11951 11 17 , , PUNCT ajst-11951 11 18 which which PRON ajst-11951 11 19 will will AUX ajst-11951 11 20 lead lead VERB ajst-11951 11 21 to to PART ajst-11951 11 22 accelerated accelerate VERB ajst-11951 11 23 blade blade NOUN ajst-11951 11 24 wear wear NOUN ajst-11951 11 25 and and CCONJ ajst-11951 11 26 reduced reduced ADJ ajst-11951 11 27 service service NOUN ajst-11951 11 28 life life NOUN ajst-11951 11 29 . . PUNCT ajst-11951 12 1 therefore therefore ADV ajst-11951 12 2 , , PUNCT ajst-11951 12 3 blade blade NOUN ajst-11951 12 4 tip tip NOUN ajst-11951 12 5 defects defect NOUN ajst-11951 12 6 or or CCONJ ajst-11951 12 7 fractures fracture NOUN ajst-11951 12 8 are be AUX ajst-11951 12 9 likely likely ADJ ajst-11951 12 10 to to PART ajst-11951 12 11 occur occur VERB ajst-11951 12 12 during during ADP ajst-11951 12 13 the the DET ajst-11951 12 14 use use NOUN ajst-11951 12 15 of of ADP ajst-11951 12 16 four four NUM ajst-11951 12 17 - - PUNCT ajst-11951 12 18 rotor rotor NOUN ajst-11951 12 19 uavs uavs NOUN ajst-11951 12 20 . . PUNCT ajst-11951 13 1 this this PRON ajst-11951 13 2 will will AUX ajst-11951 13 3 directly directly ADV ajst-11951 13 4 affect affect VERB ajst-11951 13 5 the the DET ajst-11951 13 6 inference inference NOUN ajst-11951 13 7 size size NOUN ajst-11951 13 8 of of ADP ajst-11951 13 9 the the DET ajst-11951 13 10 quad quad ADJ ajst-11951 13 11 - - PUNCT ajst-11951 13 12 rotor rotor NOUN ajst-11951 13 13 uav uav PROPN ajst-11951 13 14 , , PUNCT ajst-11951 13 15 resulting result VERB ajst-11951 13 16 in in ADP ajst-11951 13 17 a a DET ajst-11951 13 18 decline decline NOUN ajst-11951 13 19 in in ADP ajst-11951 13 20 flight flight NOUN ajst-11951 13 21 quality quality NOUN ajst-11951 13 22 or or CCONJ ajst-11951 13 23 performance performance NOUN ajst-11951 13 24 of of ADP ajst-11951 13 25 the the DET ajst-11951 13 26 quad quad ADJ ajst-11951 13 27 - - PUNCT ajst-11951 13 28 rotor rotor NOUN ajst-11951 13 29 uav uav PROPN ajst-11951 13 30 , , PUNCT ajst-11951 13 31 or or CCONJ ajst-11951 13 32 even even ADV ajst-11951 13 33 out out ADP ajst-11951 13 34 of of ADP ajst-11951 13 35 control control NOUN ajst-11951 13 36 [ [ X ajst-11951 13 37 2 2 NUM ajst-11951 13 38 ] ] PUNCT ajst-11951 13 39 . . PUNCT ajst-11951 14 1 in in ADP ajst-11951 14 2 the the DET ajst-11951 14 3 four four NUM ajst-11951 14 4 - - PUNCT ajst-11951 14 5 rotor rotor NOUN ajst-11951 14 6 uav uav PROPN ajst-11951 14 7 , , PUNCT ajst-11951 14 8 the the DET ajst-11951 14 9 main main ADJ ajst-11951 14 10 controls control NOUN ajst-11951 14 11 include include VERB ajst-11951 14 12 pid pid NOUN ajst-11951 14 13 control control NOUN ajst-11951 14 14 , , PUNCT ajst-11951 14 15 fuzzy fuzzy ADJ ajst-11951 14 16 control control NOUN ajst-11951 14 17 , , PUNCT ajst-11951 14 18 fuzzy fuzzy ADJ ajst-11951 14 19 pid pid NOUN ajst-11951 14 20 control control NOUN ajst-11951 15 1 [ [ X ajst-11951 15 2 3 3 NUM ajst-11951 15 3 ] ] PUNCT ajst-11951 15 4 , , PUNCT ajst-11951 15 5 pid pid NOUN ajst-11951 15 6 control control NOUN ajst-11951 15 7 has have AUX ajst-11951 15 8 been be AUX ajst-11951 15 9 widely widely ADV ajst-11951 15 10 used use VERB ajst-11951 15 11 many many ADJ ajst-11951 15 12 years year NOUN ajst-11951 15 13 ago ago ADV ajst-11951 15 14 [ [ X ajst-11951 15 15 4 4 X ajst-11951 15 16 ] ] PUNCT ajst-11951 15 17 in in ADP ajst-11951 15 18 recent recent ADJ ajst-11951 15 19 years year NOUN ajst-11951 15 20 , , PUNCT ajst-11951 15 21 the the DET ajst-11951 15 22 research research NOUN ajst-11951 15 23 on on ADP ajst-11951 15 24 intelligent intelligent ADJ ajst-11951 15 25 pid pid NOUN ajst-11951 15 26 control control NOUN ajst-11951 15 27 has have AUX ajst-11951 15 28 gradually gradually ADV ajst-11951 15 29 deepened deepen VERB ajst-11951 15 30 and and CCONJ ajst-11951 15 31 strengthened strengthen VERB ajst-11951 15 32 . . PUNCT ajst-11951 16 1 pid pid NOUN ajst-11951 16 2 controller controller NOUN ajst-11951 16 3 has have VERB ajst-11951 16 4 low low ADJ ajst-11951 16 5 requirements requirement NOUN ajst-11951 16 6 for for ADP ajst-11951 16 7 model model NOUN ajst-11951 16 8 accuracy accuracy NOUN ajst-11951 16 9 and and CCONJ ajst-11951 16 10 strong strong ADJ ajst-11951 16 11 adaptability adaptability NOUN ajst-11951 16 12 . . PUNCT ajst-11951 17 1 pid pid NOUN ajst-11951 17 2 controller controller NOUN ajst-11951 17 3 is be AUX ajst-11951 17 4 widely widely ADV ajst-11951 17 5 used use VERB ajst-11951 17 6 in in ADP ajst-11951 17 7 quad quad ADJ ajst-11951 17 8 - - PUNCT ajst-11951 17 9 rotor rotor NOUN ajst-11951 17 10 uav uav PROPN ajst-11951 17 11 because because SCONJ ajst-11951 17 12 of of ADP ajst-11951 17 13 its its PRON ajst-11951 17 14 good good ADJ ajst-11951 17 15 adaptability adaptability NOUN ajst-11951 17 16 to to ADP ajst-11951 17 17 some some DET ajst-11951 17 18 parameters parameter NOUN ajst-11951 17 19 which which PRON ajst-11951 17 20 can can AUX ajst-11951 17 21 not not PART ajst-11951 17 22 be be AUX ajst-11951 17 23 accurately accurately ADV ajst-11951 17 24 measured measure VERB ajst-11951 17 25 . . PUNCT ajst-11951 18 1 even even ADV ajst-11951 18 2 though though SCONJ ajst-11951 18 3 pid pid NUM ajst-11951 18 4 control control NOUN ajst-11951 18 5 is be AUX ajst-11951 18 6 so so ADV ajst-11951 18 7 widely widely ADV ajst-11951 18 8 used use VERB ajst-11951 18 9 in in ADP ajst-11951 18 10 quadcopters quadcopter NOUN ajst-11951 18 11 , , PUNCT ajst-11951 18 12 it it PRON ajst-11951 18 13 can can AUX ajst-11951 18 14 still still ADV ajst-11951 18 15 be be AUX ajst-11951 18 16 optimized optimize VERB ajst-11951 18 17 using use VERB ajst-11951 18 18 other other ADJ ajst-11951 18 19 algorithms algorithm NOUN ajst-11951 18 20 . . PUNCT ajst-11951 19 1 particle particle NOUN ajst-11951 19 2 swarm swarm NOUN ajst-11951 19 3 optimization optimization NOUN ajst-11951 19 4 ( ( PUNCT ajst-11951 19 5 pso pso NOUN ajst-11951 19 6 ) ) PUNCT ajst-11951 19 7 has have VERB ajst-11951 19 8 the the DET ajst-11951 19 9 advantages advantage NOUN ajst-11951 19 10 of of ADP ajst-11951 19 11 fewer few ADJ ajst-11951 19 12 parameters parameter NOUN ajst-11951 19 13 , , PUNCT ajst-11951 19 14 easy easy ADJ ajst-11951 19 15 operation operation NOUN ajst-11951 19 16 and and CCONJ ajst-11951 19 17 design design NOUN ajst-11951 19 18 , , PUNCT ajst-11951 19 19 and and CCONJ ajst-11951 19 20 fast fast ADJ ajst-11951 19 21 convergence convergence NOUN ajst-11951 19 22 . . PUNCT ajst-11951 20 1 in in ADP ajst-11951 20 2 this this DET ajst-11951 20 3 paper paper NOUN ajst-11951 20 4 , , PUNCT ajst-11951 20 5 the the DET ajst-11951 20 6 pid pid NOUN ajst-11951 20 7 algorithm algorithm NOUN ajst-11951 20 8 of of ADP ajst-11951 20 9 the the DET ajst-11951 20 10 four four NUM ajst-11951 20 11 - - PUNCT ajst-11951 20 12 rotor rotor NOUN ajst-11951 20 13 uav uav PROPN ajst-11951 20 14 is be AUX ajst-11951 20 15 optimized optimize VERB ajst-11951 20 16 by by ADP ajst-11951 20 17 particle particle NOUN ajst-11951 20 18 swarm swarm NOUN ajst-11951 20 19 optimization optimization NOUN ajst-11951 20 20 under under ADP ajst-11951 20 21 the the DET ajst-11951 20 22 condition condition NOUN ajst-11951 20 23 of of ADP ajst-11951 20 24 blade blade NOUN ajst-11951 20 25 tip tip NOUN ajst-11951 20 26 defect defect NOUN ajst-11951 20 27 , , PUNCT ajst-11951 20 28 and and CCONJ ajst-11951 20 29 the the DET ajst-11951 20 30 corresponding corresponding ADJ ajst-11951 20 31 data datum NOUN ajst-11951 20 32 is be AUX ajst-11951 20 33 obtained obtain VERB ajst-11951 20 34 by by ADP ajst-11951 20 35 using use VERB ajst-11951 20 36 simulink simulink PROPN ajst-11951 20 37 simulation simulation NOUN ajst-11951 20 38 tool tool NOUN ajst-11951 20 39 in in ADP ajst-11951 20 40 matlab matlab PROPN ajst-11951 20 41 , , PUNCT ajst-11951 20 42 and and CCONJ ajst-11951 20 43 then then ADV ajst-11951 20 44 compared compare VERB ajst-11951 20 45 with with ADP ajst-11951 20 46 the the DET ajst-11951 20 47 data datum NOUN ajst-11951 20 48 after after ADP ajst-11951 20 49 particle particle NOUN ajst-11951 20 50 swarm swarm NOUN ajst-11951 20 51 optimization optimization NOUN ajst-11951 20 52 . . PUNCT ajst-11951 21 1 explore explore VERB ajst-11951 21 2 the the DET ajst-11951 21 3 advantages advantage NOUN ajst-11951 21 4 and and CCONJ ajst-11951 21 5 disadvantages disadvantage NOUN ajst-11951 21 6 of of ADP ajst-11951 21 7 particle particle NOUN ajst-11951 21 8 swarm swarm NOUN ajst-11951 21 9 optimization optimization NOUN ajst-11951 21 10 . . PUNCT ajst-11951 22 1 2 2 X ajst-11951 22 2 . . X ajst-11951 22 3 uav uav PROPN ajst-11951 22 4 modeling modeling NOUN ajst-11951 22 5 and and CCONJ ajst-11951 22 6 pid pid NOUN ajst-11951 22 7 control control NOUN ajst-11951 22 8 2.1 2.1 NUM ajst-11951 22 9 . . PUNCT ajst-11951 22 10 principle principle NOUN ajst-11951 22 11 and and CCONJ ajst-11951 22 12 model model NOUN ajst-11951 22 13 of of ADP ajst-11951 22 14 four four NUM ajst-11951 22 15 - - PUNCT ajst-11951 22 16 rotor rotor NOUN ajst-11951 22 17 uav uav PROPN ajst-11951 22 18 four four NUM ajst-11951 22 19 - - PUNCT ajst-11951 22 20 rotor rotor NOUN ajst-11951 22 21 uav uav PROPN ajst-11951 22 22 is be AUX ajst-11951 22 23 a a DET ajst-11951 22 24 vertical vertical ADJ ajst-11951 22 25 take take VERB ajst-11951 22 26 - - PUNCT ajst-11951 22 27 off off NOUN ajst-11951 22 28 and and CCONJ ajst-11951 22 29 landing land VERB ajst-11951 22 30 multirotor multirotor NOUN ajst-11951 22 31 aircraft aircraft NOUN ajst-11951 22 32 , , PUNCT ajst-11951 22 33 which which PRON ajst-11951 22 34 is be AUX ajst-11951 22 35 composed compose VERB ajst-11951 22 36 of of ADP ajst-11951 22 37 four four NUM ajst-11951 22 38 symmetrical symmetrical ADJ ajst-11951 22 39 rotors rotor NOUN ajst-11951 22 40 . . PUNCT ajst-11951 23 1 each each DET ajst-11951 23 2 rotor rotor NOUN ajst-11951 23 3 is be AUX ajst-11951 23 4 driven drive VERB ajst-11951 23 5 by by ADP ajst-11951 23 6 a a DET ajst-11951 23 7 motor motor NOUN ajst-11951 23 8 to to PART ajst-11951 23 9 generate generate VERB ajst-11951 23 10 thrust thrust NOUN ajst-11951 23 11 , , PUNCT ajst-11951 23 12 and and CCONJ ajst-11951 23 13 the the DET ajst-11951 23 14 flight flight NOUN ajst-11951 23 15 control control NOUN ajst-11951 23 16 can can AUX ajst-11951 23 17 be be AUX ajst-11951 23 18 achieved achieve VERB ajst-11951 23 19 by by ADP ajst-11951 23 20 adjusting adjust VERB ajst-11951 23 21 the the DET ajst-11951 23 22 speed speed NOUN ajst-11951 23 23 . . PUNCT ajst-11951 24 1 the the DET ajst-11951 24 2 structure structure NOUN ajst-11951 24 3 of of ADP ajst-11951 24 4 the the DET ajst-11951 24 5 four four NUM ajst-11951 24 6 - - PUNCT ajst-11951 24 7 rotor rotor NOUN ajst-11951 24 8 uav uav PROPN ajst-11951 24 9 : : PUNCT ajst-11951 24 10 fuselage fuselage NOUN ajst-11951 24 11 : : PUNCT ajst-11951 24 12 the the DET ajst-11951 24 13 fuselage fuselage NOUN ajst-11951 24 14 of of ADP ajst-11951 24 15 a a DET ajst-11951 24 16 quadrotor quadrotor NOUN ajst-11951 24 17 drone drone NOUN ajst-11951 24 18 is be AUX ajst-11951 24 19 the the DET ajst-11951 24 20 main main ADJ ajst-11951 24 21 body body NOUN ajst-11951 24 22 of of ADP ajst-11951 24 23 the the DET ajst-11951 24 24 entire entire ADJ ajst-11951 24 25 aircraft aircraft NOUN ajst-11951 24 26 and and CCONJ ajst-11951 24 27 is be AUX ajst-11951 24 28 usually usually ADV ajst-11951 24 29 made make VERB ajst-11951 24 30 of of ADP ajst-11951 24 31 lightweight lightweight ADJ ajst-11951 24 32 materials material NOUN ajst-11951 24 33 such such ADJ ajst-11951 24 34 as as ADP ajst-11951 24 35 carbon carbon NOUN ajst-11951 24 36 fiber fiber NOUN ajst-11951 24 37 or or CCONJ ajst-11951 24 38 aluminum aluminum NOUN ajst-11951 24 39 alloy alloy NOUN ajst-11951 24 40 to to PART ajst-11951 24 41 reduce reduce VERB ajst-11951 24 42 overall overall ADJ ajst-11951 24 43 weight weight NOUN ajst-11951 24 44 and and CCONJ ajst-11951 24 45 improve improve VERB ajst-11951 24 46 flight flight NOUN ajst-11951 24 47 performance performance NOUN ajst-11951 24 48 . . PUNCT ajst-11951 25 1 rotors rotor NOUN ajst-11951 25 2 : : PUNCT ajst-11951 25 3 the the DET ajst-11951 25 4 quadrotor quadrotor PROPN ajst-11951 25 5 uav uav PROPN ajst-11951 25 6 has have VERB ajst-11951 25 7 four four NUM ajst-11951 25 8 symmetrically symmetrically ADV ajst-11951 25 9 arranged arrange VERB ajst-11951 25 10 rotors rotor NOUN ajst-11951 25 11 , , PUNCT ajst-11951 25 12 each each PRON ajst-11951 25 13 driven drive VERB ajst-11951 25 14 by by ADP ajst-11951 25 15 a a DET ajst-11951 25 16 motor motor NOUN ajst-11951 25 17 , , PUNCT ajst-11951 25 18 attached attach VERB ajst-11951 25 19 to to ADP ajst-11951 25 20 the the DET ajst-11951 25 21 four four NUM ajst-11951 25 22 brackets bracket NOUN ajst-11951 25 23 of of ADP ajst-11951 25 24 the the DET ajst-11951 25 25 fuselage fuselage NOUN ajst-11951 25 26 . . PUNCT ajst-11951 26 1 the the DET ajst-11951 26 2 rotors rotor NOUN ajst-11951 26 3 are be AUX ajst-11951 26 4 the the DET ajst-11951 26 5 source source NOUN ajst-11951 26 6 of of ADP ajst-11951 26 7 flight flight NOUN ajst-11951 26 8 power power NOUN ajst-11951 26 9 , , PUNCT ajst-11951 26 10 which which PRON ajst-11951 26 11 enables enable VERB ajst-11951 26 12 the the DET ajst-11951 26 13 drone drone NOUN ajst-11951 26 14 to to PART ajst-11951 26 15 hover hover VERB ajst-11951 26 16 and and CCONJ ajst-11951 26 17 fly fly VERB ajst-11951 26 18 in in ADP ajst-11951 26 19 the the DET ajst-11951 26 20 air air NOUN ajst-11951 26 21 by by ADP ajst-11951 26 22 generating generate VERB ajst-11951 26 23 upward upward ADJ ajst-11951 26 24 thrust thrust NOUN ajst-11951 26 25 . . PUNCT ajst-11951 27 1 motor motor NOUN ajst-11951 27 2 and and CCONJ ajst-11951 27 3 electric electric ADJ ajst-11951 27 4 modulation modulation NOUN ajst-11951 27 5 : : PUNCT ajst-11951 27 6 each each DET ajst-11951 27 7 rotor rotor NOUN ajst-11951 27 8 is be AUX ajst-11951 27 9 equipped equip VERB ajst-11951 27 10 with with ADP ajst-11951 27 11 a a DET ajst-11951 27 12 motor motor NOUN ajst-11951 27 13 and and CCONJ ajst-11951 27 14 corresponding corresponding ADJ ajst-11951 27 15 electrical electrical ADJ ajst-11951 27 16 modulation modulation NOUN ajst-11951 27 17 ( ( PUNCT ajst-11951 27 18 electronic electronic ADJ ajst-11951 27 19 governor governor NOUN ajst-11951 27 20 ) ) PUNCT ajst-11951 27 21 . . PUNCT ajst-11951 28 1 electric electric ADJ ajst-11951 28 2 regulation regulation NOUN ajst-11951 28 3 controls control VERB ajst-11951 28 4 the the DET ajst-11951 28 5 speed speed NOUN ajst-11951 28 6 of of ADP ajst-11951 28 7 the the DET ajst-11951 28 8 motor motor NOUN ajst-11951 28 9 , , PUNCT ajst-11951 28 10 thus thus ADV ajst-11951 28 11 controlling control VERB ajst-11951 28 12 the the DET ajst-11951 28 13 thrust thrust NOUN ajst-11951 28 14 of of ADP ajst-11951 28 15 the the DET ajst-11951 28 16 rotor rotor NOUN ajst-11951 28 17 . . PUNCT ajst-11951 29 1 by by ADP ajst-11951 29 2 adjusting adjust VERB ajst-11951 29 3 the the DET ajst-11951 29 4 speed speed NOUN ajst-11951 29 5 of of ADP ajst-11951 29 6 the the DET ajst-11951 29 7 motor motor NOUN ajst-11951 29 8 , , PUNCT ajst-11951 29 9 the the DET ajst-11951 29 10 drone drone NOUN ajst-11951 29 11 can can AUX ajst-11951 29 12 achieve achieve VERB ajst-11951 29 13 actions action NOUN ajst-11951 29 14 such such ADJ ajst-11951 29 15 as as ADP ajst-11951 29 16 rising rise VERB ajst-11951 29 17 , , PUNCT ajst-11951 29 18 falling fall VERB ajst-11951 29 19 , , PUNCT ajst-11951 29 20 hovering hover VERB ajst-11951 29 21 and and CCONJ ajst-11951 29 22 steering steering NOUN ajst-11951 29 23 . . PUNCT ajst-11951 30 1 flight flight NOUN ajst-11951 30 2 control control NOUN ajst-11951 30 3 system system NOUN ajst-11951 30 4 : : PUNCT ajst-11951 30 5 the the DET ajst-11951 30 6 flight flight NOUN ajst-11951 30 7 control control NOUN ajst-11951 30 8 system system NOUN ajst-11951 30 9 is be AUX ajst-11951 30 10 the the DET ajst-11951 30 11 core core NOUN ajst-11951 30 12 control control NOUN ajst-11951 30 13 part part NOUN ajst-11951 30 14 of of ADP ajst-11951 30 15 the the DET ajst-11951 30 16 four four NUM ajst-11951 30 17 - - PUNCT ajst-11951 30 18 rotor rotor NOUN ajst-11951 30 19 uav uav PROPN ajst-11951 30 20 , , PUNCT ajst-11951 30 21 which which PRON ajst-11951 30 22 is be AUX ajst-11951 30 23 usually usually ADV ajst-11951 30 24 composed compose VERB ajst-11951 30 25 of of ADP ajst-11951 30 26 the the DET ajst-11951 30 27 flight flight NOUN ajst-11951 30 28 controller controller NOUN ajst-11951 30 29 and and CCONJ ajst-11951 30 30 related related ADJ ajst-11951 30 31 sensors sensor NOUN ajst-11951 30 32 . . PUNCT ajst-11951 31 1 the the DET ajst-11951 31 2 flight flight NOUN ajst-11951 31 3 controller controller NOUN ajst-11951 31 4 is be AUX ajst-11951 31 5 responsible responsible ADJ ajst-11951 31 6 for for ADP ajst-11951 31 7 receiving receive VERB ajst-11951 31 8 sensor sensor NOUN ajst-11951 31 9 data datum NOUN ajst-11951 31 10 and and CCONJ ajst-11951 31 11 calculating calculate VERB ajst-11951 31 12 control control NOUN ajst-11951 31 13 instructions instruction NOUN ajst-11951 31 14 , , PUNCT ajst-11951 31 15 and and CCONJ ajst-11951 31 16 then then ADV ajst-11951 31 17 adjusting adjust VERB ajst-11951 31 18 the the DET ajst-11951 31 19 speed speed NOUN ajst-11951 31 20 of of ADP ajst-11951 31 21 each each DET ajst-11951 31 22 motor motor NOUN ajst-11951 31 23 through through ADP ajst-11951 31 24 electrical electrical ADJ ajst-11951 31 25 regulation regulation NOUN ajst-11951 31 26 to to PART ajst-11951 31 27 achieve achieve VERB ajst-11951 31 28 stable stable ADJ ajst-11951 31 29 control control NOUN ajst-11951 31 30 of of ADP ajst-11951 31 31 the the DET ajst-11951 31 32 uav uav PROPN ajst-11951 31 33 and and CCONJ ajst-11951 31 34 flight flight NOUN ajst-11951 31 35 tasks task NOUN ajst-11951 31 36 . . PUNCT ajst-11951 32 1 sensors sensor NOUN ajst-11951 32 2 : : PUNCT ajst-11951 32 3 drones drone NOUN ajst-11951 32 4 are be AUX ajst-11951 32 5 equipped equip VERB ajst-11951 32 6 with with ADP ajst-11951 32 7 a a DET ajst-11951 32 8 variety variety NOUN ajst-11951 32 9 of of ADP ajst-11951 32 10 sensors sensor NOUN ajst-11951 32 11 to to PART ajst-11951 32 12 sense sense VERB ajst-11951 32 13 the the DET ajst-11951 32 14 environment environment NOUN ajst-11951 32 15 and and CCONJ ajst-11951 32 16 flight flight NOUN ajst-11951 32 17 status status NOUN ajst-11951 32 18 . . PUNCT ajst-11951 33 1 common common ADJ ajst-11951 33 2 sensors sensor NOUN ajst-11951 33 3 include include VERB ajst-11951 33 4 gyroscope gyroscope NOUN ajst-11951 33 5 , , PUNCT ajst-11951 33 6 accelerometer accelerometer NOUN ajst-11951 33 7 , , PUNCT ajst-11951 33 8 compass compass ADJ ajst-11951 33 9 , , PUNCT ajst-11951 33 10 barometer barometer NOUN ajst-11951 33 11 , , PUNCT ajst-11951 33 12 and and CCONJ ajst-11951 33 13 gps gps PROPN ajst-11951 33 14 positioning positioning NOUN ajst-11951 33 15 systems system NOUN ajst-11951 33 16 . . PUNCT ajst-11951 34 1 these these DET ajst-11951 34 2 sensors sensor NOUN ajst-11951 34 3 provide provide VERB ajst-11951 34 4 the the DET ajst-11951 34 5 data datum NOUN ajst-11951 34 6 needed need VERB ajst-11951 34 7 by by ADP ajst-11951 34 8 flight flight NOUN ajst-11951 34 9 controllers controller NOUN ajst-11951 34 10 to to PART ajst-11951 34 11 monitor monitor VERB ajst-11951 34 12 the the DET ajst-11951 34 13 drone drone NOUN ajst-11951 34 14 's 's PART ajst-11951 34 15 attitude attitude NOUN ajst-11951 34 16 , , PUNCT ajst-11951 34 17 altitude altitude NOUN ajst-11951 34 18 , , PUNCT ajst-11951 34 19 position position NOUN ajst-11951 34 20 and and CCONJ ajst-11951 34 21 speed speed NOUN ajst-11951 34 22 in in ADP ajst-11951 34 23 real real ADJ ajst-11951 34 24 time time NOUN ajst-11951 34 25 . . PUNCT ajst-11951 35 1 102 102 NUM ajst-11951 35 2 dynamic dynamic ADJ ajst-11951 35 3 equation equation NOUN ajst-11951 35 4 of of ADP ajst-11951 35 5 four four NUM ajst-11951 35 6 - - PUNCT ajst-11951 35 7 rotor rotor NOUN ajst-11951 35 8 uav uav PROPN ajst-11951 35 9 , , PUNCT ajst-11951 35 10 based base VERB ajst-11951 35 11 on on ADP ajst-11951 35 12 newtoneuler newtoneuler NOUN ajst-11951 35 13 equations equation NOUN ajst-11951 35 14 [ [ X ajst-11951 35 15 5 5 NUM ajst-11951 35 16 ] ] PUNCT ajst-11951 35 17 and and CCONJ ajst-11951 35 18 model model NOUN ajst-11951 35 19 proposed propose VERB ajst-11951 35 20 in in ADP ajst-11951 35 21 [ [ X ajst-11951 35 22 6 6 NUM ajst-11951 35 23 ] ] PUNCT ajst-11951 35 24 . . PUNCT ajst-11951 36 1 the the DET ajst-11951 36 2 six six NUM ajst-11951 36 3 equations equation NOUN ajst-11951 36 4 for for ADP ajst-11951 36 5 the the DET ajst-11951 36 6 angular angular ADJ ajst-11951 36 7 motion motion NOUN ajst-11951 36 8 : : PUNCT ajst-11951 37 1 𝐼 𝐼 PROPN ajst-11951 37 2 𝑝 𝑝 PROPN ajst-11951 37 3 𝐼 𝐼 PROPN ajst-11951 37 4 𝐼 𝐼 PROPN ajst-11951 37 5 π‘žπ‘Ÿ π‘žπ‘Ÿ PROPN ajst-11951 37 6 𝜏 𝜏 PROPN ajst-11951 37 7 ( ( PUNCT ajst-11951 37 8 1 1 NUM ajst-11951 37 9 ) ) PUNCT ajst-11951 37 10 𝐼 𝐼 ADP ajst-11951 37 11 π‘ž π‘ž NOUN ajst-11951 37 12 𝐼 𝐼 ADP ajst-11951 37 13 𝐼 𝐼 ADP ajst-11951 37 14 π‘π‘Ÿ π‘π‘Ÿ PROPN ajst-11951 37 15 𝜏 𝜏 X ajst-11951 37 16 ( ( PUNCT ajst-11951 37 17 2 2 NUM ajst-11951 37 18 ) ) PUNCT ajst-11951 37 19 𝐼 𝐼 ADP ajst-11951 37 20 π‘Ÿ π‘Ÿ NOUN ajst-11951 37 21 𝐼 𝐼 PROPN ajst-11951 37 22 𝐼 𝐼 PROPN ajst-11951 37 23 π‘π‘ž π‘π‘ž VERB ajst-11951 37 24 𝜏 𝜏 X ajst-11951 37 25 ( ( PUNCT ajst-11951 37 26 3 3 NUM ajst-11951 37 27 ) ) PUNCT ajst-11951 37 28 Ο† Ο† NOUN ajst-11951 37 29 𝐩 𝐩 PROPN ajst-11951 37 30 𝐫 𝐫 X ajst-11951 37 31 πͺ πͺ PROPN ajst-11951 37 32 sin sin NOUN ajst-11951 37 33 Ο• Ο• PROPN ajst-11951 37 34 tanθθθ𝛉 tanθθθ𝛉 NOUN ajst-11951 37 35 ( ( PUNCT ajst-11951 37 36 4 4 NUM ajst-11951 37 37 ) ) PUNCT ajst-11951 37 38 ΞΈ ΞΈ PROPN ajst-11951 37 39 q q PUNCT ajst-11951 37 40 cos cos PROPN ajst-11951 37 41 Ο• Ο• PROPN ajst-11951 37 42 r r NOUN ajst-11951 37 43 sin sin NOUN ajst-11951 37 44 Ο• Ο• NOUN ajst-11951 37 45 ( ( PUNCT ajst-11951 37 46 5 5 NUM ajst-11951 37 47 ) ) PUNCT ajst-11951 37 48 ψ ψ NOUN ajst-11951 37 49 rcos rco NOUN ajst-11951 37 50 π›Ÿ π›Ÿ ADP ajst-11951 37 51 q q PROPN ajst-11951 37 52 / / PUNCT ajst-11951 37 53 cos cos ADP ajst-11951 37 54 𝛉 𝛉 X ajst-11951 37 55 ( ( PUNCT ajst-11951 37 56 6 6 NUM ajst-11951 37 57 ) ) PUNCT ajst-11951 37 58 the the DET ajst-11951 37 59 six six NUM ajst-11951 37 60 equations equation NOUN ajst-11951 37 61 for for ADP ajst-11951 37 62 the the DET ajst-11951 37 63 linear linear PROPN ajst-11951 37 64 motion motion NOUN ajst-11951 37 65 : : PUNCT ajst-11951 37 66 x x SYM ajst-11951 37 67 𝑉 𝑉 PROPN ajst-11951 37 68 ( ( PUNCT ajst-11951 37 69 7 7 NUM ajst-11951 37 70 ) ) PUNCT ajst-11951 37 71 y y PROPN ajst-11951 37 72 𝑉 𝑉 PROPN ajst-11951 37 73 ( ( PUNCT ajst-11951 37 74 8) 8) NUM ajst-11951 37 75 z z PROPN ajst-11951 37 76 𝑉 𝑉 PROPN ajst-11951 37 77 ( ( PUNCT ajst-11951 37 78 9 9 NUM ajst-11951 37 79 ) ) PUNCT ajst-11951 37 80 π‘šπ‘£ π‘šπ‘£ NOUN ajst-11951 37 81 𝐹 𝐹 PROPN ajst-11951 37 82 cos cos PROPN ajst-11951 37 83 Ο• Ο• PROPN ajst-11951 37 84 cos cos PROPN ajst-11951 37 85 ψ ψ PROPN ajst-11951 37 86 sin sin NOUN ajst-11951 37 87 ΞΈ ΞΈ PROPN ajst-11951 37 88 sin sin NOUN ajst-11951 37 89 Ο• Ο• PROPN ajst-11951 37 90 sin sin NOUN ajst-11951 37 91 ψ ψ X ajst-11951 37 92 ( ( PUNCT ajst-11951 37 93 10 10 NUM ajst-11951 37 94 ) ) PUNCT ajst-11951 37 95 π‘šπ‘£ π‘šπ‘£ NOUN ajst-11951 37 96 𝐹 𝐹 PROPN ajst-11951 37 97 cos cos PROPN ajst-11951 37 98 Ο• Ο• PROPN ajst-11951 37 99 sin sin NOUN ajst-11951 37 100 ΞΈ ΞΈ PROPN ajst-11951 37 101 sin sin NOUN ajst-11951 37 102 ψ ψ X ajst-11951 37 103 cos cos X ajst-11951 37 104 ψ ψ X ajst-11951 37 105 sin sin NOUN ajst-11951 37 106 Ο• Ο• PROPN ajst-11951 37 107 ( ( PUNCT ajst-11951 37 108 11 11 NUM ajst-11951 37 109 ) ) PUNCT ajst-11951 37 110 π‘šπ‘£ π‘šπ‘£ NOUN ajst-11951 37 111 π‘šπ‘” π‘šπ‘” NOUN ajst-11951 37 112 𝐹 𝐹 PROPN ajst-11951 38 1 cos cos PROPN ajst-11951 38 2 Ο• Ο• PROPN ajst-11951 38 3 cos cos PROPN ajst-11951 38 4 ΞΈ ΞΈ PROPN ajst-11951 38 5 ( ( PUNCT ajst-11951 38 6 12 12 NUM ajst-11951 38 7 ) ) PUNCT ajst-11951 38 8 in in ADP ajst-11951 38 9 the the DET ajst-11951 38 10 above above ADJ ajst-11951 38 11 formula formula NOUN ajst-11951 38 12 , , PUNCT ajst-11951 38 13 p p NOUN ajst-11951 38 14 stands stand VERB ajst-11951 38 15 for for ADP ajst-11951 38 16 roll roll NOUN ajst-11951 38 17 rate rate NOUN ajst-11951 38 18 , , PUNCT ajst-11951 38 19 q q NOUN ajst-11951 38 20 stands stand VERB ajst-11951 38 21 for for ADP ajst-11951 38 22 pitch pitch NOUN ajst-11951 38 23 rate rate NOUN ajst-11951 38 24 , , PUNCT ajst-11951 38 25 r r NOUN ajst-11951 38 26 stands stand VERB ajst-11951 38 27 for for ADP ajst-11951 38 28 yaw yaw NOUN ajst-11951 38 29 rate rate NOUN ajst-11951 38 30 , , PUNCT ajst-11951 38 31 Ο„p Ο„p PROPN ajst-11951 38 32 stands stand VERB ajst-11951 38 33 for for ADP ajst-11951 38 34 rolling rolling ADJ ajst-11951 38 35 moment moment NOUN ajst-11951 38 36 , , PUNCT ajst-11951 38 37 Ο„q Ο„q NUM ajst-11951 38 38 stands stand VERB ajst-11951 38 39 for for ADP ajst-11951 38 40 pitching pitch VERB ajst-11951 38 41 moment moment NOUN ajst-11951 38 42 , , PUNCT ajst-11951 38 43 Ο„r Ο„r PUNCT ajst-11951 38 44 stands stand VERB ajst-11951 38 45 for for ADP ajst-11951 38 46 yawing yaw VERB ajst-11951 38 47 moment moment NOUN ajst-11951 38 48 , , PUNCT ajst-11951 38 49 stands stand VERB ajst-11951 38 50 for for ADP ajst-11951 38 51 roll roll NOUN ajst-11951 38 52 angle angle NOUN ajst-11951 38 53 , , PUNCT ajst-11951 38 54 stands stand VERB ajst-11951 38 55 for for ADP ajst-11951 38 56 pitch pitch NOUN ajst-11951 38 57 angle angle NOUN ajst-11951 38 58 , , PUNCT ajst-11951 38 59 stands stand VERB ajst-11951 38 60 for for ADP ajst-11951 38 61 yaw yaw NOUN ajst-11951 38 62 angle angle NOUN ajst-11951 38 63 . . PUNCT ajst-11951 39 1 2.2 2.2 NUM ajst-11951 39 2 . . PUNCT ajst-11951 39 3 establishment establishment NOUN ajst-11951 39 4 of of ADP ajst-11951 39 5 tip tip NOUN ajst-11951 39 6 defect defect NOUN ajst-11951 39 7 model model NOUN ajst-11951 39 8 of of ADP ajst-11951 39 9 fourrotor fourrotor PROPN ajst-11951 39 10 uav uav PROPN ajst-11951 39 11 according accord VERB ajst-11951 39 12 to to ADP ajst-11951 39 13 the the DET ajst-11951 39 14 paper paper NOUN ajst-11951 40 1 [ [ X ajst-11951 40 2 8 8 NUM ajst-11951 40 3 ] ] PUNCT ajst-11951 40 4 , , PUNCT ajst-11951 40 5 ρf ρf PROPN ajst-11951 40 6 is be AUX ajst-11951 40 7 defined define VERB ajst-11951 40 8 as as ADP ajst-11951 40 9 the the DET ajst-11951 40 10 ratio ratio NOUN ajst-11951 40 11 between between ADP ajst-11951 40 12 the the DET ajst-11951 40 13 thrust thrust NOUN ajst-11951 40 14 generated generate VERB ajst-11951 40 15 by by ADP ajst-11951 40 16 the the DET ajst-11951 40 17 propeller propeller NOUN ajst-11951 40 18 after after SCONJ ajst-11951 40 19 the the DET ajst-11951 40 20 propeller propeller NOUN ajst-11951 40 21 tip tip AUX ajst-11951 40 22 defect defect VERB ajst-11951 40 23 fault fault NOUN ajst-11951 40 24 and and CCONJ ajst-11951 40 25 the the DET ajst-11951 40 26 original original ADJ ajst-11951 40 27 thrust thrust NOUN ajst-11951 40 28 : : PUNCT ajst-11951 40 29 ρ ρ PROPN ajst-11951 40 30 ΞΈ ΞΈ PROPN ajst-11951 40 31 k k X ajst-11951 40 32 /3 /3 PUNCT ajst-11951 40 33 ΞΈ ΞΈ X ajst-11951 40 34 k k X ajst-11951 40 35 /4 /4 PROPN ajst-11951 41 1 Ξ»k Ξ»k X ajst-11951 41 2 /2 /2 PROPN ajst-11951 41 3 / / SYM ajst-11951 41 4 ΞΈ ΞΈ NOUN ajst-11951 41 5 /3 /3 PUNCT ajst-11951 41 6 ΞΈ ΞΈ X ajst-11951 41 7 /4 /4 NOUN ajst-11951 41 8 Ξ»/2 Ξ»/2 PUNCT ajst-11951 41 9 ( ( PUNCT ajst-11951 41 10 13)[8 13)[8 X ajst-11951 41 11 ] ] PUNCT ajst-11951 41 12 where where SCONJ ajst-11951 41 13 ΞΈ0 ΞΈ0 PROPN ajst-11951 41 14 represents represent VERB ajst-11951 41 15 the the DET ajst-11951 41 16 zero zero NUM ajst-11951 41 17 incidence incidence NOUN ajst-11951 41 18 angle angle NOUN ajst-11951 41 19 of of ADP ajst-11951 41 20 the the DET ajst-11951 41 21 blade blade NOUN ajst-11951 41 22 , , PUNCT ajst-11951 41 23 ΞΈtw ΞΈtw NOUN ajst-11951 41 24 represents represent VERB ajst-11951 41 25 the the DET ajst-11951 41 26 torsional torsional ADJ ajst-11951 41 27 incidence incidence NOUN ajst-11951 41 28 angle angle NOUN ajst-11951 41 29 , , PUNCT ajst-11951 41 30 Ξ» Ξ» PROPN ajst-11951 41 31 represents represent VERB ajst-11951 41 32 the the DET ajst-11951 41 33 ratio ratio NOUN ajst-11951 41 34 of of ADP ajst-11951 41 35 the the DET ajst-11951 41 36 incoming incoming ADJ ajst-11951 41 37 flow flow NOUN ajst-11951 41 38 velocity velocity NOUN ajst-11951 41 39 to to ADP ajst-11951 41 40 the the DET ajst-11951 41 41 tip tip NOUN ajst-11951 41 42 velocity velocity NOUN ajst-11951 41 43 , , PUNCT ajst-11951 41 44 and and CCONJ ajst-11951 41 45 k k PROPN ajst-11951 41 46 represents represent VERB ajst-11951 41 47 the the DET ajst-11951 41 48 ratio ratio NOUN ajst-11951 41 49 between between ADP ajst-11951 41 50 the the DET ajst-11951 41 51 blade blade NOUN ajst-11951 41 52 radius radius NOUN ajst-11951 41 53 after after ADP ajst-11951 41 54 the the DET ajst-11951 41 55 defect defect NOUN ajst-11951 41 56 and and CCONJ ajst-11951 41 57 the the DET ajst-11951 41 58 initial initial ADJ ajst-11951 41 59 blade blade NOUN ajst-11951 41 60 radius radius NOUN ajst-11951 41 61 . . PUNCT ajst-11951 42 1 in in ADP ajst-11951 42 2 this this DET ajst-11951 42 3 paper paper NOUN ajst-11951 42 4 , , PUNCT ajst-11951 42 5 the the DET ajst-11951 42 6 blade blade NOUN ajst-11951 42 7 parameters parameter NOUN ajst-11951 42 8 of of ADP ajst-11951 42 9 the the DET ajst-11951 42 10 four four NUM ajst-11951 42 11 - - PUNCT ajst-11951 42 12 rotor rotor NOUN ajst-11951 42 13 uav uav PROPN ajst-11951 42 14 in in ADP ajst-11951 42 15 paper paper NOUN ajst-11951 42 16 [ [ X ajst-11951 42 17 6 6 NUM ajst-11951 42 18 ] ] PUNCT ajst-11951 42 19 will will AUX ajst-11951 42 20 be be AUX ajst-11951 42 21 taken take VERB ajst-11951 42 22 as as ADP ajst-11951 42 23 an an DET ajst-11951 42 24 example example NOUN ajst-11951 42 25 . . PUNCT ajst-11951 43 1 the the DET ajst-11951 43 2 parameters parameter NOUN ajst-11951 43 3 are be AUX ajst-11951 43 4 specifically specifically ADV ajst-11951 43 5 set set VERB ajst-11951 43 6 as as ADP ajst-11951 43 7 ΞΈ0= ΞΈ0= PROPN ajst-11951 43 8 0.67rad 0.67rad NOUN ajst-11951 43 9 , , PUNCT ajst-11951 43 10 ΞΈtw= ΞΈtw= NOUN ajst-11951 43 11 0.29rad 0.29rad NOUN ajst-11951 43 12 , , PUNCT ajst-11951 43 13 Ξ»=0.05 Ξ»=0.05 NOUN ajst-11951 43 14 , , PUNCT ajst-11951 43 15 and and CCONJ ajst-11951 43 16 the the DET ajst-11951 43 17 k k PROPN ajst-11951 43 18 value value NOUN ajst-11951 43 19 is be AUX ajst-11951 43 20 assigned assign VERB ajst-11951 43 21 as as ADP ajst-11951 43 22 0.7 0.7 NUM ajst-11951 43 23 the the DET ajst-11951 43 24 mathematical mathematical ADJ ajst-11951 43 25 form form NOUN ajst-11951 43 26 of of ADP ajst-11951 43 27 this this DET ajst-11951 43 28 fault fault NOUN ajst-11951 43 29 can can AUX ajst-11951 43 30 be be AUX ajst-11951 43 31 expressed express VERB ajst-11951 43 32 as as ADP ajst-11951 43 33 : : PUNCT ajst-11951 43 34 t t PROPN ajst-11951 43 35 ρ ρ PROPN ajst-11951 43 36 t t PROPN ajst-11951 43 37 ( ( PUNCT ajst-11951 43 38 14 14 NUM ajst-11951 43 39 ) ) PUNCT ajst-11951 43 40 where where SCONJ ajst-11951 43 41 tn tn PROPN ajst-11951 43 42 is be AUX ajst-11951 43 43 the the DET ajst-11951 43 44 lift lift NOUN ajst-11951 43 45 force force NOUN ajst-11951 43 46 generated generate VERB ajst-11951 43 47 by by ADP ajst-11951 43 48 a a DET ajst-11951 43 49 propeller propeller NOUN ajst-11951 43 50 under under ADP ajst-11951 43 51 normal normal ADJ ajst-11951 43 52 conditions condition NOUN ajst-11951 43 53 2.3 2.3 NUM ajst-11951 43 54 . . PUNCT ajst-11951 44 1 pid pid NOUN ajst-11951 44 2 control control NOUN ajst-11951 44 3 pid pid NOUN ajst-11951 44 4 controller controller NOUN ajst-11951 44 5 is be AUX ajst-11951 44 6 the the DET ajst-11951 44 7 most most ADV ajst-11951 44 8 used use VERB ajst-11951 44 9 in in ADP ajst-11951 44 10 uav uav PROPN ajst-11951 44 11 control control PROPN ajst-11951 44 12 . . PUNCT ajst-11951 45 1 pid pid NOUN ajst-11951 45 2 control control NOUN ajst-11951 45 3 algorithm algorithm PROPN ajst-11951 45 4 is be AUX ajst-11951 45 5 a a DET ajst-11951 45 6 common common ADJ ajst-11951 45 7 feedback feedback NOUN ajst-11951 45 8 control control NOUN ajst-11951 45 9 algorithm algorithm NOUN ajst-11951 45 10 , , PUNCT ajst-11951 45 11 which which PRON ajst-11951 45 12 is be AUX ajst-11951 45 13 used use VERB ajst-11951 45 14 to to PART ajst-11951 45 15 realize realize VERB ajst-11951 45 16 the the DET ajst-11951 45 17 stability stability NOUN ajst-11951 45 18 control control NOUN ajst-11951 45 19 of of ADP ajst-11951 45 20 the the DET ajst-11951 45 21 system system NOUN ajst-11951 45 22 . . PUNCT ajst-11951 46 1 pid pid PROPN ajst-11951 46 2 stands stand VERB ajst-11951 46 3 for for ADP ajst-11951 46 4 proportional proportional ADJ ajst-11951 46 5 ( ( PUNCT ajst-11951 46 6 p p NOUN ajst-11951 46 7 ) ) PUNCT ajst-11951 46 8 , , PUNCT ajst-11951 46 9 integral integral ADJ ajst-11951 46 10 ( ( PUNCT ajst-11951 46 11 i i NOUN ajst-11951 46 12 ) ) PUNCT ajst-11951 46 13 , , PUNCT ajst-11951 46 14 and and CCONJ ajst-11951 46 15 differential differential ADJ ajst-11951 46 16 ( ( PUNCT ajst-11951 46 17 d d NOUN ajst-11951 46 18 ) ) PUNCT ajst-11951 46 19 control control NOUN ajst-11951 46 20 terms term NOUN ajst-11951 46 21 , , PUNCT ajst-11951 46 22 which which PRON ajst-11951 46 23 are be AUX ajst-11951 46 24 combined combine VERB ajst-11951 46 25 to to PART ajst-11951 46 26 compute compute VERB ajst-11951 46 27 the the DET ajst-11951 46 28 control control NOUN ajst-11951 46 29 signal signal NOUN ajst-11951 46 30 and and CCONJ ajst-11951 46 31 adjust adjust VERB ajst-11951 46 32 the the DET ajst-11951 46 33 output output NOUN ajst-11951 46 34 of of ADP ajst-11951 46 35 the the DET ajst-11951 46 36 control control NOUN ajst-11951 46 37 system system NOUN ajst-11951 46 38 so so SCONJ ajst-11951 46 39 that that SCONJ ajst-11951 46 40 it it PRON ajst-11951 46 41 is be AUX ajst-11951 46 42 as as ADV ajst-11951 46 43 close close ADJ ajst-11951 46 44 as as ADP ajst-11951 46 45 possible possible ADJ ajst-11951 46 46 to to ADP ajst-11951 46 47 the the DET ajst-11951 46 48 expected expect VERB ajst-11951 46 49 value value NOUN ajst-11951 46 50 . . PUNCT ajst-11951 47 1 proportional proportional ADJ ajst-11951 47 2 ( ( PUNCT ajst-11951 47 3 p p NOUN ajst-11951 47 4 ) ) PUNCT ajst-11951 47 5 item item NOUN ajst-11951 47 6 : : PUNCT ajst-11951 47 7 the the DET ajst-11951 47 8 proportional proportional ADJ ajst-11951 47 9 control control NOUN ajst-11951 47 10 acts act VERB ajst-11951 47 11 on on ADP ajst-11951 47 12 the the DET ajst-11951 47 13 current current ADJ ajst-11951 47 14 error error NOUN ajst-11951 47 15 ( ( PUNCT ajst-11951 47 16 deviation deviation NOUN ajst-11951 47 17 ) ) PUNCT ajst-11951 47 18 , , PUNCT ajst-11951 47 19 and and CCONJ ajst-11951 47 20 its its PRON ajst-11951 47 21 output output NOUN ajst-11951 47 22 is be AUX ajst-11951 47 23 proportional proportional ADJ ajst-11951 47 24 to to ADP ajst-11951 47 25 the the DET ajst-11951 47 26 size size NOUN ajst-11951 47 27 of of ADP ajst-11951 47 28 the the DET ajst-11951 47 29 error error NOUN ajst-11951 47 30 . . PUNCT ajst-11951 48 1 when when SCONJ ajst-11951 48 2 the the DET ajst-11951 48 3 error error NOUN ajst-11951 48 4 is be AUX ajst-11951 48 5 large large ADJ ajst-11951 48 6 , , PUNCT ajst-11951 48 7 the the DET ajst-11951 48 8 output output NOUN ajst-11951 48 9 of of ADP ajst-11951 48 10 the the DET ajst-11951 48 11 proportional proportional ADJ ajst-11951 48 12 term term NOUN ajst-11951 48 13 will will AUX ajst-11951 48 14 also also ADV ajst-11951 48 15 increase increase VERB ajst-11951 48 16 , , PUNCT ajst-11951 48 17 thus thus ADV ajst-11951 48 18 speeding speed VERB ajst-11951 48 19 up up ADP ajst-11951 48 20 the the DET ajst-11951 48 21 system system NOUN ajst-11951 48 22 response response NOUN ajst-11951 48 23 . . PUNCT ajst-11951 49 1 integral integral ADJ ajst-11951 49 2 ( ( PUNCT ajst-11951 49 3 i i NOUN ajst-11951 49 4 ) ) PUNCT ajst-11951 49 5 item item NOUN ajst-11951 49 6 : : PUNCT ajst-11951 49 7 integral integral ADJ ajst-11951 49 8 control control NOUN ajst-11951 49 9 is be AUX ajst-11951 49 10 used use VERB ajst-11951 49 11 to to PART ajst-11951 49 12 eliminate eliminate VERB ajst-11951 49 13 steady steady ADJ ajst-11951 49 14 - - PUNCT ajst-11951 49 15 state state NOUN ajst-11951 49 16 errors error NOUN ajst-11951 49 17 in in ADP ajst-11951 49 18 the the DET ajst-11951 49 19 system system NOUN ajst-11951 49 20 . . PUNCT ajst-11951 50 1 it it PRON ajst-11951 50 2 controls control VERB ajst-11951 50 3 the the DET ajst-11951 50 4 cumulative cumulative ADJ ajst-11951 50 5 error error NOUN ajst-11951 50 6 , , PUNCT ajst-11951 50 7 that that ADV ajst-11951 50 8 is is ADV ajst-11951 50 9 , , PUNCT ajst-11951 50 10 the the DET ajst-11951 50 11 cumulative cumulative ADJ ajst-11951 50 12 value value NOUN ajst-11951 50 13 of of ADP ajst-11951 50 14 the the DET ajst-11951 50 15 error error NOUN ajst-11951 50 16 over over ADP ajst-11951 50 17 time time NOUN ajst-11951 50 18 is be AUX ajst-11951 50 19 integrated integrate VERB ajst-11951 50 20 . . PUNCT ajst-11951 51 1 the the DET ajst-11951 51 2 integral integral ADJ ajst-11951 51 3 term term NOUN ajst-11951 51 4 can can AUX ajst-11951 51 5 eliminate eliminate VERB ajst-11951 51 6 the the DET ajst-11951 51 7 steady steady ADJ ajst-11951 51 8 - - PUNCT ajst-11951 51 9 state state NOUN ajst-11951 51 10 error error NOUN ajst-11951 51 11 caused cause VERB ajst-11951 51 12 by by ADP ajst-11951 51 13 the the DET ajst-11951 51 14 proportional proportional ADJ ajst-11951 51 15 term term NOUN ajst-11951 51 16 and and CCONJ ajst-11951 51 17 the the DET ajst-11951 51 18 differential differential ADJ ajst-11951 51 19 term term NOUN ajst-11951 51 20 . . PUNCT ajst-11951 52 1 differential differential NOUN ajst-11951 52 2 ( ( PUNCT ajst-11951 52 3 d d NOUN ajst-11951 52 4 ) ) PUNCT ajst-11951 52 5 term term NOUN ajst-11951 52 6 : : PUNCT ajst-11951 52 7 differential differential ADJ ajst-11951 52 8 control control NOUN ajst-11951 52 9 is be AUX ajst-11951 52 10 used use VERB ajst-11951 52 11 to to PART ajst-11951 52 12 suppress suppress VERB ajst-11951 52 13 overharmonic overharmonic ADJ ajst-11951 52 14 oscillations oscillation NOUN ajst-11951 52 15 of of ADP ajst-11951 52 16 the the DET ajst-11951 52 17 system system NOUN ajst-11951 52 18 . . PUNCT ajst-11951 53 1 it it PRON ajst-11951 53 2 predicts predict VERB ajst-11951 53 3 the the DET ajst-11951 53 4 development development NOUN ajst-11951 53 5 trend trend NOUN ajst-11951 53 6 of of ADP ajst-11951 53 7 future future ADJ ajst-11951 53 8 error error NOUN ajst-11951 53 9 by by ADP ajst-11951 53 10 detecting detect VERB ajst-11951 53 11 the the DET ajst-11951 53 12 rate rate NOUN ajst-11951 53 13 of of ADP ajst-11951 53 14 change change NOUN ajst-11951 53 15 of of ADP ajst-11951 53 16 error error NOUN ajst-11951 53 17 , , PUNCT ajst-11951 53 18 and and CCONJ ajst-11951 53 19 adjusts adjust VERB ajst-11951 53 20 the the DET ajst-11951 53 21 control control NOUN ajst-11951 53 22 signal signal NOUN ajst-11951 53 23 to to PART ajst-11951 53 24 slow slow VERB ajst-11951 53 25 down down ADP ajst-11951 53 26 the the DET ajst-11951 53 27 system system NOUN ajst-11951 53 28 response response NOUN ajst-11951 53 29 speed speed NOUN ajst-11951 53 30 . . PUNCT ajst-11951 54 1 2.4 2.4 NUM ajst-11951 54 2 . . PUNCT ajst-11951 55 1 pid pid NOUN ajst-11951 55 2 control control NOUN ajst-11951 55 3 of of ADP ajst-11951 55 4 uav uav PROPN ajst-11951 55 5 position position NOUN ajst-11951 55 6 varies vary VERB ajst-11951 55 7 with with ADP ajst-11951 55 8 speed speed NOUN ajst-11951 55 9 , , PUNCT ajst-11951 55 10 angle angle NOUN ajst-11951 55 11 varies vary VERB ajst-11951 55 12 with with ADP ajst-11951 55 13 speed speed NOUN ajst-11951 55 14 . . PUNCT ajst-11951 56 1 therefore therefore ADV ajst-11951 56 2 , , PUNCT ajst-11951 56 3 we we PRON ajst-11951 56 4 divide divide VERB ajst-11951 56 5 the the DET ajst-11951 56 6 variables variable NOUN ajst-11951 56 7 into into ADP ajst-11951 56 8 : : PUNCT ajst-11951 56 9 inner inner ADJ ajst-11951 56 10 ring ring NOUN ajst-11951 56 11 : : PUNCT ajst-11951 56 12 speed speed NOUN ajst-11951 56 13 and and CCONJ ajst-11951 56 14 posture posture NOUN ajst-11951 56 15 rate rate NOUN ajst-11951 56 16 . . PUNCT ajst-11951 57 1 outer outer ADJ ajst-11951 57 2 ring ring NOUN ajst-11951 57 3 : : PUNCT ajst-11951 57 4 position position NOUN ajst-11951 57 5 , , PUNCT ajst-11951 57 6 posture posture NOUN ajst-11951 57 7 , , PUNCT ajst-11951 57 8 angle angle NOUN ajst-11951 57 9 . . PUNCT ajst-11951 58 1 velocity velocity NOUN ajst-11951 58 2 varies vary VERB ajst-11951 58 3 with with ADP ajst-11951 58 4 attitude attitude NOUN ajst-11951 58 5 angle angle NOUN ajst-11951 58 6 , , PUNCT ajst-11951 58 7 so so SCONJ ajst-11951 58 8 the the DET ajst-11951 58 9 ring ring NOUN ajst-11951 58 10 of of ADP ajst-11951 58 11 attitude attitude NOUN ajst-11951 58 12 angle angle NOUN ajst-11951 58 13 is be AUX ajst-11951 58 14 also also ADV ajst-11951 58 15 the the DET ajst-11951 58 16 inner inner ADJ ajst-11951 58 17 ring ring NOUN ajst-11951 58 18 of of ADP ajst-11951 58 19 velocity velocity NOUN ajst-11951 58 20 . . PUNCT ajst-11951 59 1 rate rate NOUN ajst-11951 59 2 control control PROPN ajst-11951 59 3 : : PUNCT ajst-11951 59 4 controls control VERB ajst-11951 59 5 p p NOUN ajst-11951 59 6 , , PUNCT ajst-11951 59 7 q q ADJ ajst-11951 59 8 , , PUNCT ajst-11951 59 9 r r VERB ajst-11951 59 10 the the DET ajst-11951 59 11 figure figure NOUN ajst-11951 59 12 1 1 NUM ajst-11951 59 13 below below ADV ajst-11951 59 14 considers consider VERB ajst-11951 59 15 the the DET ajst-11951 59 16 control control NOUN ajst-11951 59 17 for for ADP ajst-11951 59 18 example example NOUN ajst-11951 59 19 . . PUNCT ajst-11951 60 1 treat treat VERB ajst-11951 60 2 the the DET ajst-11951 60 3 plant plant NOUN ajst-11951 60 4 as as ADP ajst-11951 60 5 a a DET ajst-11951 60 6 black black NOUN ajst-11951 60 7 - - PUNCT ajst-11951 60 8 box box NOUN ajst-11951 60 9 . . PUNCT ajst-11951 61 1 figure figure NOUN ajst-11951 61 2 1 1 NUM ajst-11951 61 3 . . PUNCT ajst-11951 61 4 rate rate NOUN ajst-11951 61 5 control control PROPN ajst-11951 61 6 attitude attitude NOUN ajst-11951 61 7 controls control NOUN ajst-11951 61 8 . . PUNCT ajst-11951 62 1 treat treat VERB ajst-11951 62 2 the the DET ajst-11951 62 3 rate rate NOUN ajst-11951 62 4 control control PROPN ajst-11951 62 5 loop loop NOUN ajst-11951 62 6 as as ADP ajst-11951 62 7 the the DET ajst-11951 62 8 inner inner ADJ ajst-11951 62 9 loop loop NOUN ajst-11951 62 10 as as SCONJ ajst-11951 62 11 shown show VERB ajst-11951 62 12 in in ADP ajst-11951 62 13 figure figure NOUN ajst-11951 62 14 2 2 NUM ajst-11951 62 15 . . PUNCT ajst-11951 62 16 figure figure NOUN ajst-11951 62 17 2 2 NUM ajst-11951 62 18 . . PUNCT ajst-11951 63 1 the the DET ajst-11951 63 2 rate rate PROPN ajst-11951 63 3 control control PROPN ajst-11951 63 4 loop loop PROPN ajst-11951 63 5 103 103 NUM ajst-11951 63 6 treat treat VERB ajst-11951 63 7 the the DET ajst-11951 63 8 rate rate NOUN ajst-11951 63 9 control control PROPN ajst-11951 63 10 loop loop NOUN ajst-11951 63 11 and and CCONJ ajst-11951 63 12 the the DET ajst-11951 63 13 plant plant NOUN ajst-11951 63 14 as as ADP ajst-11951 63 15 the the DET ajst-11951 63 16 black black PROPN ajst-11951 63 17 box box PROPN ajst-11951 63 18 as as SCONJ ajst-11951 63 19 shown show VERB ajst-11951 63 20 in in ADP ajst-11951 63 21 figure figure NOUN ajst-11951 63 22 3 3 NUM ajst-11951 63 23 . . PUNCT ajst-11951 63 24 figure figure NOUN ajst-11951 63 25 3 3 NUM ajst-11951 63 26 . . PUNCT ajst-11951 64 1 the the DET ajst-11951 64 2 rate rate NOUN ajst-11951 64 3 control control PROPN ajst-11951 64 4 loop loop NOUN ajst-11951 64 5 and and CCONJ ajst-11951 64 6 the the DET ajst-11951 64 7 plant plant NOUN ajst-11951 64 8 and and CCONJ ajst-11951 64 9 then then ADV ajst-11951 64 10 do do VERB ajst-11951 64 11 the the DET ajst-11951 64 12 same same ADJ ajst-11951 64 13 for for SCONJ ajst-11951 64 14 the the DET ajst-11951 64 15 position position NOUN ajst-11951 64 16 control control NOUN ajst-11951 64 17 repeat repeat VERB ajst-11951 64 18 the the DET ajst-11951 64 19 same same ADJ ajst-11951 64 20 procedure procedure NOUN ajst-11951 64 21 for for ADP ajst-11951 64 22 velocity velocity NOUN ajst-11951 64 23 and and CCONJ ajst-11951 64 24 position position NOUN ajst-11951 64 25 control control NOUN ajst-11951 64 26 loops loop NOUN ajst-11951 64 27 as as SCONJ ajst-11951 64 28 shown show VERB ajst-11951 64 29 in in ADP ajst-11951 64 30 figure figure NOUN ajst-11951 64 31 4 4 NUM ajst-11951 64 32 . . PUNCT ajst-11951 64 33 figure figure VERB ajst-11951 64 34 4 4 NUM ajst-11951 64 35 . . PUNCT ajst-11951 64 36 velocity velocity NOUN ajst-11951 64 37 and and CCONJ ajst-11951 64 38 position position NOUN ajst-11951 64 39 control control NOUN ajst-11951 64 40 loops loop VERB ajst-11951 64 41 3 3 NUM ajst-11951 64 42 . . PUNCT ajst-11951 64 43 particle particle NOUN ajst-11951 64 44 swarm swarm NOUN ajst-11951 64 45 optimization optimization NOUN ajst-11951 64 46 3.1 3.1 NUM ajst-11951 64 47 . . PUNCT ajst-11951 65 1 introduction introduction NOUN ajst-11951 65 2 the the DET ajst-11951 65 3 study study NOUN ajst-11951 65 4 of of ADP ajst-11951 65 5 bird bird NOUN ajst-11951 65 6 foraging forage VERB ajst-11951 65 7 behavior behavior NOUN ajst-11951 65 8 led lead VERB ajst-11951 65 9 to to ADP ajst-11951 65 10 the the DET ajst-11951 65 11 invention invention NOUN ajst-11951 65 12 of of ADP ajst-11951 65 13 particle particle NOUN ajst-11951 65 14 swarm swarm NOUN ajst-11951 65 15 optimization optimization NOUN ajst-11951 65 16 ( ( PUNCT ajst-11951 65 17 pso pso NOUN ajst-11951 65 18 ) ) PUNCT ajst-11951 65 19 , , PUNCT ajst-11951 65 20 because because SCONJ ajst-11951 65 21 birds bird NOUN ajst-11951 65 22 can can AUX ajst-11951 65 23 find find VERB ajst-11951 65 24 the the DET ajst-11951 65 25 best good ADJ ajst-11951 65 26 destination destination NOUN ajst-11951 65 27 through through ADP ajst-11951 65 28 the the DET ajst-11951 65 29 sharing sharing NOUN ajst-11951 65 30 of of ADP ajst-11951 65 31 collective collective ADJ ajst-11951 65 32 information information NOUN ajst-11951 65 33 . . PUNCT ajst-11951 66 1 the the DET ajst-11951 66 2 pso pso NOUN ajst-11951 66 3 algorithm algorithm NOUN ajst-11951 66 4 has have VERB ajst-11951 66 5 six six NUM ajst-11951 66 6 important important ADJ ajst-11951 66 7 parameters parameter NOUN ajst-11951 66 8 , , PUNCT ajst-11951 66 9 which which PRON ajst-11951 66 10 are be AUX ajst-11951 66 11 the the DET ajst-11951 66 12 position position NOUN ajst-11951 66 13 of of ADP ajst-11951 66 14 the the DET ajst-11951 66 15 i i PROPN ajst-11951 66 16 th th X ajst-11951 66 17 particle particle NOUN ajst-11951 66 18 , , PUNCT ajst-11951 66 19 the the DET ajst-11951 66 20 speed speed NOUN ajst-11951 66 21 of of ADP ajst-11951 66 22 the the DET ajst-11951 66 23 i i PROPN ajst-11951 66 24 th th X ajst-11951 66 25 particle particle NOUN ajst-11951 66 26 , , PUNCT ajst-11951 66 27 the the DET ajst-11951 66 28 optimal optimal ADJ ajst-11951 66 29 position position NOUN ajst-11951 66 30 searched search VERB ajst-11951 66 31 by by ADP ajst-11951 66 32 the the DET ajst-11951 66 33 i i PROPN ajst-11951 66 34 th th PROPN ajst-11951 66 35 particle particle NOUN ajst-11951 66 36 , , PUNCT ajst-11951 66 37 the the DET ajst-11951 66 38 optimal optimal ADJ ajst-11951 66 39 position position NOUN ajst-11951 66 40 searched search VERB ajst-11951 66 41 by by ADP ajst-11951 66 42 the the DET ajst-11951 66 43 group group NOUN ajst-11951 66 44 , , PUNCT ajst-11951 66 45 the the DET ajst-11951 66 46 adaptation adaptation NOUN ajst-11951 66 47 value value NOUN ajst-11951 66 48 of of ADP ajst-11951 66 49 the the DET ajst-11951 66 50 optimal optimal ADJ ajst-11951 66 51 position position NOUN ajst-11951 66 52 searched search VERB ajst-11951 66 53 by by ADP ajst-11951 66 54 the the DET ajst-11951 66 55 i i PROPN ajst-11951 66 56 th th X ajst-11951 66 57 particle particle NOUN ajst-11951 66 58 and and CCONJ ajst-11951 66 59 the the DET ajst-11951 66 60 adaptation adaptation NOUN ajst-11951 66 61 value value NOUN ajst-11951 66 62 of of ADP ajst-11951 66 63 the the DET ajst-11951 66 64 optimal optimal ADJ ajst-11951 66 65 position position NOUN ajst-11951 66 66 searched search VERB ajst-11951 66 67 by by ADP ajst-11951 66 68 the the DET ajst-11951 66 69 group group NOUN ajst-11951 66 70 in in ADP ajst-11951 66 71 particle particle NOUN ajst-11951 66 72 swarm swarm NOUN ajst-11951 66 73 optimization optimization NOUN ajst-11951 66 74 , , PUNCT ajst-11951 66 75 each each DET ajst-11951 66 76 candidate candidate NOUN ajst-11951 66 77 solution solution NOUN ajst-11951 66 78 is be AUX ajst-11951 66 79 called call VERB ajst-11951 66 80 a a DET ajst-11951 66 81 " " PUNCT ajst-11951 66 82 particle particle NOUN ajst-11951 66 83 " " PUNCT ajst-11951 66 84 that that PRON ajst-11951 66 85 represents represent VERB ajst-11951 66 86 a a DET ajst-11951 66 87 point point NOUN ajst-11951 66 88 in in ADP ajst-11951 66 89 d d ADJ ajst-11951 66 90 - - ADJ ajst-11951 66 91 dimensional dimensional ADJ ajst-11951 66 92 space space NOUN ajst-11951 66 93 if if SCONJ ajst-11951 66 94 d d PROPN ajst-11951 66 95 is be AUX ajst-11951 66 96 the the DET ajst-11951 66 97 number number NOUN ajst-11951 66 98 of of ADP ajst-11951 66 99 parameters parameter NOUN ajst-11951 66 100 to to PART ajst-11951 66 101 optimize optimize VERB ajst-11951 66 102 . . PUNCT ajst-11951 67 1 we we PRON ajst-11951 67 2 can can AUX ajst-11951 67 3 use use VERB ajst-11951 67 4 the the DET ajst-11951 67 5 following follow VERB ajst-11951 67 6 vector vector NOUN ajst-11951 67 7 to to PART ajst-11951 67 8 represent represent VERB ajst-11951 67 9 the the DET ajst-11951 67 10 position position NOUN ajst-11951 67 11 of of ADP ajst-11951 67 12 the the DET ajst-11951 67 13 i i PROPN ajst-11951 67 14 - - PUNCT ajst-11951 67 15 th th X ajst-11951 67 16 particle particle NOUN ajst-11951 67 17 , , PUNCT ajst-11951 67 18 and and CCONJ ajst-11951 67 19 the the DET ajst-11951 67 20 population population NOUN ajst-11951 67 21 is be AUX ajst-11951 67 22 formed form VERB ajst-11951 67 23 : : PUNCT ajst-11951 67 24 π‘₯ π‘₯ PUNCT ajst-11951 68 1 π‘₯ π‘₯ PRON ajst-11951 68 2 π‘₯ π‘₯ X ajst-11951 68 3 π‘₯ π‘₯ INTJ ajst-11951 68 4 . . PUNCT ajst-11951 68 5 . . PUNCT ajst-11951 68 6 . . PUNCT ajst-11951 69 1 π‘₯ π‘₯ PRON ajst-11951 69 2 ( ( PUNCT ajst-11951 69 3 15 15 NUM ajst-11951 69 4 ) ) PUNCT ajst-11951 69 5 x x SYM ajst-11951 70 1 x x SYM ajst-11951 70 2 , , PUNCT ajst-11951 70 3 x x X ajst-11951 70 4 , , PUNCT ajst-11951 70 5 . . PUNCT ajst-11951 70 6 . . PUNCT ajst-11951 70 7 . . PUNCT ajst-11951 71 1 , , PUNCT ajst-11951 71 2 x x X ajst-11951 71 3 ( ( PUNCT ajst-11951 71 4 16 16 NUM ajst-11951 71 5 ) ) PUNCT ajst-11951 71 6 in in ADP ajst-11951 71 7 the the DET ajst-11951 71 8 process process NOUN ajst-11951 71 9 of of ADP ajst-11951 71 10 finding find VERB ajst-11951 71 11 an an DET ajst-11951 71 12 optimal optimal ADJ ajst-11951 71 13 solution solution NOUN ajst-11951 71 14 to to ADP ajst-11951 71 15 the the DET ajst-11951 71 16 problem problem NOUN ajst-11951 71 17 , , PUNCT ajst-11951 71 18 the the DET ajst-11951 71 19 particle particle NOUN ajst-11951 71 20 will will AUX ajst-11951 71 21 redefine redefine VERB ajst-11951 71 22 its its PRON ajst-11951 71 23 trajectory trajectory NOUN ajst-11951 71 24 in in ADP ajst-11951 71 25 parameter parameter NOUN ajst-11951 71 26 space space NOUN ajst-11951 71 27 ( ( PUNCT ajst-11951 71 28 i.e. i.e. X ajst-11951 71 29 update update VERB ajst-11951 71 30 its its PRON ajst-11951 71 31 position position NOUN ajst-11951 71 32 iteratively iteratively ADV ajst-11951 71 33 ) ) PUNCT ajst-11951 71 34 according accord VERB ajst-11951 71 35 to to ADP ajst-11951 71 36 the the DET ajst-11951 71 37 following follow VERB ajst-11951 71 38 equation equation NOUN ajst-11951 71 39 of of ADP ajst-11951 71 40 motion[7 motion[7 PROPN ajst-11951 71 41 ] ] PUNCT ajst-11951 71 42 : : PUNCT ajst-11951 71 43 π‘₯ π‘₯ SYM ajst-11951 71 44 𝑑 𝑑 PROPN ajst-11951 71 45 1 1 NUM ajst-11951 71 46 π‘₯ π‘₯ NOUN ajst-11951 71 47 𝑑 𝑑 NOUN ajst-11951 71 48 𝑣 𝑣 PART ajst-11951 71 49 𝑑 𝑑 NOUN ajst-11951 71 50 1 1 NUM ajst-11951 71 51 ( ( PUNCT ajst-11951 71 52 16 16 NUM ajst-11951 71 53 ) ) PUNCT ajst-11951 71 54 the the DET ajst-11951 71 55 velocity velocity NOUN ajst-11951 71 56 of of ADP ajst-11951 71 57 the the DET ajst-11951 71 58 ith ith PROPN ajst-11951 71 59 particle particle NOUN ajst-11951 71 60 is be AUX ajst-11951 71 61 defined define VERB ajst-11951 71 62 as[7 as[7 ADJ ajst-11951 71 63 ] ] NOUN ajst-11951 71 64 : : PUNCT ajst-11951 71 65 vi(t+1)=vi(t)+c1(pi vi(t+1)=vi(t)+c1(pi NOUN ajst-11951 71 66 - - PUNCT ajst-11951 71 67 xi(t))r1+c2(g xi(t))r1+c2(g NOUN ajst-11951 71 68 - - PUNCT ajst-11951 71 69 xi(t))r2 xi(t))r2 PROPN ajst-11951 71 70 ( ( PUNCT ajst-11951 71 71 17 17 NUM ajst-11951 71 72 ) ) PUNCT ajst-11951 71 73 where where SCONJ ajst-11951 71 74 pi pi NOUN ajst-11951 71 75 refers refer VERB ajst-11951 71 76 to to ADP ajst-11951 71 77 the the DET ajst-11951 71 78 best good ADJ ajst-11951 71 79 fit fit ADJ ajst-11951 71 80 value value NOUN ajst-11951 71 81 of of ADP ajst-11951 71 82 the the DET ajst-11951 71 83 particle particle NOUN ajst-11951 71 84 , , PUNCT ajst-11951 71 85 that that ADV ajst-11951 71 86 is is ADV ajst-11951 71 87 , , PUNCT ajst-11951 71 88 the the DET ajst-11951 71 89 coordinates coordinate NOUN ajst-11951 71 90 at at ADP ajst-11951 71 91 which which PRON ajst-11951 71 92 the the DET ajst-11951 71 93 particle particle NOUN ajst-11951 71 94 has have AUX ajst-11951 71 95 obtained obtain VERB ajst-11951 71 96 the the DET ajst-11951 71 97 best good ADJ ajst-11951 71 98 solution solution NOUN ajst-11951 71 99 so so ADV ajst-11951 71 100 far far ADV ajst-11951 71 101 , , PUNCT ajst-11951 71 102 g g PROPN ajst-11951 71 103 is be AUX ajst-11951 71 104 expressed express VERB ajst-11951 71 105 as as ADP ajst-11951 71 106 the the DET ajst-11951 71 107 overall overall ADJ ajst-11951 71 108 optimal optimal ADJ ajst-11951 71 109 solution solution NOUN ajst-11951 71 110 , , PUNCT ajst-11951 71 111 c1 c1 PROPN ajst-11951 71 112 and and CCONJ ajst-11951 71 113 c2 c2 PROPN ajst-11951 71 114 are be AUX ajst-11951 71 115 learning learn VERB ajst-11951 71 116 factors factor NOUN ajst-11951 71 117 , , PUNCT ajst-11951 71 118 usually usually ADV ajst-11951 71 119 between between ADP ajst-11951 71 120 0 0 NUM ajst-11951 71 121 and and CCONJ ajst-11951 71 122 4 4 NUM ajst-11951 71 123 , , PUNCT ajst-11951 71 124 and and CCONJ ajst-11951 71 125 r1 r1 PROPN ajst-11951 71 126 and and CCONJ ajst-11951 71 127 r2 r2 PROPN ajst-11951 71 128 are be AUX ajst-11951 71 129 random random ADJ ajst-11951 71 130 numbers number NOUN ajst-11951 71 131 distributed distribute VERB ajst-11951 71 132 in in ADP ajst-11951 71 133 the the DET ajst-11951 71 134 range range NOUN ajst-11951 71 135 of of ADP ajst-11951 71 136 0 0 NUM ajst-11951 71 137 to to PART ajst-11951 71 138 1 1 NUM ajst-11951 71 139 . . PUNCT ajst-11951 72 1 the the DET ajst-11951 72 2 flow flow NOUN ajst-11951 72 3 of of ADP ajst-11951 72 4 particle particle NOUN ajst-11951 72 5 swarm swarm NOUN ajst-11951 72 6 optimization optimization NOUN ajst-11951 72 7 is be AUX ajst-11951 72 8 as as SCONJ ajst-11951 72 9 follows follow VERB ajst-11951 72 10 : : PUNCT ajst-11951 72 11 ( ( PUNCT ajst-11951 72 12 1 1 X ajst-11951 72 13 ) ) PUNCT ajst-11951 72 14 initialize initialize VERB ajst-11951 72 15 particle particle NOUN ajst-11951 72 16 swarm swarm NOUN ajst-11951 72 17 parameters,(2 parameters,(2 NOUN ajst-11951 72 18 ) ) PUNCT ajst-11951 72 19 randomly randomly ADV ajst-11951 72 20 initialize initialize VERB ajst-11951 72 21 the the DET ajst-11951 72 22 position position NOUN ajst-11951 72 23 and and CCONJ ajst-11951 72 24 velocity velocity NOUN ajst-11951 72 25 of of ADP ajst-11951 72 26 each each DET ajst-11951 72 27 particle,(3 particle,(3 NOUN ajst-11951 72 28 ) ) PUNCT ajst-11951 72 29 update update VERB ajst-11951 72 30 the the DET ajst-11951 72 31 velocity velocity NOUN ajst-11951 72 32 and and CCONJ ajst-11951 72 33 position position NOUN ajst-11951 72 34 of of ADP ajst-11951 72 35 each each DET ajst-11951 72 36 particle particle NOUN ajst-11951 72 37 according accord VERB ajst-11951 72 38 to to ADP ajst-11951 72 39 the the DET ajst-11951 72 40 conditions condition NOUN ajst-11951 72 41 met meet VERB ajst-11951 72 42 , , PUNCT ajst-11951 72 43 and and CCONJ ajst-11951 72 44 calculate calculate VERB ajst-11951 72 45 the the DET ajst-11951 72 46 current current ADJ ajst-11951 72 47 fitness fitness NOUN ajst-11951 72 48 of of ADP ajst-11951 72 49 each each DET ajst-11951 72 50 particle,(4 particle,(4 NOUN ajst-11951 72 51 ) ) PUNCT ajst-11951 72 52 update update NOUN ajst-11951 72 53 the the DET ajst-11951 72 54 individual individual ADJ ajst-11951 72 55 historical historical ADJ ajst-11951 72 56 optimal optimal ADJ ajst-11951 72 57 fitness fitness NOUN ajst-11951 72 58 value value NOUN ajst-11951 72 59 and and CCONJ ajst-11951 72 60 position position NOUN ajst-11951 72 61 of of ADP ajst-11951 72 62 each each DET ajst-11951 72 63 particle,(5 particle,(5 NOUN ajst-11951 72 64 ) ) PUNCT ajst-11951 72 65 for for ADP ajst-11951 72 66 each each DET ajst-11951 72 67 particle particle NOUN ajst-11951 72 68 , , PUNCT ajst-11951 72 69 compare compare VERB ajst-11951 72 70 its its PRON ajst-11951 72 71 adaptation adaptation NOUN ajst-11951 72 72 value value NOUN ajst-11951 72 73 with with ADP ajst-11951 72 74 the the DET ajst-11951 72 75 historical historical ADJ ajst-11951 72 76 best good ADJ ajst-11951 72 77 adaptation adaptation NOUN ajst-11951 72 78 value value NOUN ajst-11951 72 79 ( ( PUNCT ajst-11951 72 80 6 6 NUM ajst-11951 72 81 ) ) PUNCT ajst-11951 72 82 if if SCONJ ajst-11951 72 83 a a DET ajst-11951 72 84 good good ADJ ajst-11951 72 85 enough enough ADJ ajst-11951 72 86 solution solution NOUN ajst-11951 72 87 is be AUX ajst-11951 72 88 reached reach VERB ajst-11951 72 89 or or CCONJ ajst-11951 72 90 the the DET ajst-11951 72 91 number number NOUN ajst-11951 72 92 of of ADP ajst-11951 72 93 iterations iteration NOUN ajst-11951 72 94 reaches reach VERB ajst-11951 72 95 the the DET ajst-11951 72 96 maximum maximum ADJ ajst-11951 72 97 , , PUNCT ajst-11951 72 98 end end NOUN ajst-11951 72 99 ; ; PUNCT ajst-11951 72 100 otherwise otherwise ADV ajst-11951 72 101 , , PUNCT ajst-11951 72 102 go go VERB ajst-11951 72 103 to to PART ajst-11951 72 104 step step VERB ajst-11951 72 105 ( ( PUNCT ajst-11951 72 106 3).[4 3).[4 NUM ajst-11951 72 107 ] ] X ajst-11951 72 108 3.2 3.2 NUM ajst-11951 72 109 . . PUNCT ajst-11951 73 1 the the DET ajst-11951 73 2 optimized optimize VERB ajst-11951 73 3 simulation simulation NOUN ajst-11951 73 4 results result VERB ajst-11951 73 5 the the DET ajst-11951 73 6 particle particle NOUN ajst-11951 73 7 swarm swarm NOUN ajst-11951 73 8 optimization optimization NOUN ajst-11951 73 9 of of ADP ajst-11951 73 10 pid pid NOUN ajst-11951 73 11 control control NOUN ajst-11951 73 12 of of ADP ajst-11951 73 13 a a DET ajst-11951 73 14 quadrotor quadrotor NOUN ajst-11951 73 15 uav uav PROPN ajst-11951 73 16 with with ADP ajst-11951 73 17 tip tip NOUN ajst-11951 73 18 defect defect NOUN ajst-11951 73 19 is be AUX ajst-11951 73 20 carried carry VERB ajst-11951 73 21 out out ADP ajst-11951 73 22 under under ADP ajst-11951 73 23 simulink simulink PROPN ajst-11951 73 24 simulation simulation NOUN ajst-11951 73 25 in in ADP ajst-11951 73 26 matlab matlab PROPN ajst-11951 73 27 . . PUNCT ajst-11951 74 1 the the DET ajst-11951 74 2 following follow VERB ajst-11951 74 3 5 5 NUM ajst-11951 74 4 data datum NOUN ajst-11951 74 5 comparison comparison NOUN ajst-11951 74 6 graphs graph NOUN ajst-11951 74 7 are be AUX ajst-11951 74 8 obtained obtain VERB ajst-11951 74 9 the the DET ajst-11951 74 10 particle particle NOUN ajst-11951 74 11 swarm swarm NOUN ajst-11951 74 12 optimization optimization NOUN ajst-11951 74 13 functions function NOUN ajst-11951 74 14 are be AUX ajst-11951 74 15 respectively respectively ADV ajst-11951 74 16 : : PUNCT ajst-11951 74 17 delta_max_t delta_max_t PROPN ajst-11951 74 18 = = SYM ajst-11951 74 19 max(t)/11.5 max(t)/11.5 NOUN ajst-11951 74 20 * * NOUN ajst-11951 74 21 100 100 NUM ajst-11951 74 22 ; ; PUNCT ajst-11951 74 23 delta_max_tau_p delta_max_tau_p X ajst-11951 75 1 = = SYM ajst-11951 75 2 0 0 NUM ajst-11951 75 3 ; ; PUNCT ajst-11951 75 4 % % PRON ajst-11951 75 5 max(tau_p)*200 max(tau_p)*200 NUM ajst-11951 75 6 ; ; PUNCT ajst-11951 75 7 ( ( PUNCT ajst-11951 75 8 18 18 NUM ajst-11951 75 9 ) ) PUNCT ajst-11951 75 10 delta_max_tau_q delta_max_tau_q X ajst-11951 76 1 = = NOUN ajst-11951 76 2 0 0 NUM ajst-11951 76 3 ; ; PUNCT ajst-11951 76 4 % % PRON ajst-11951 76 5 max(abs(tau_q))*100 max(abs(tau_q))*100 NUM ajst-11951 76 6 ; ; PUNCT ajst-11951 76 7 ( ( PUNCT ajst-11951 76 8 19 19 NUM ajst-11951 76 9 ) ) PUNCT ajst-11951 76 10 delta_max_tau_r delta_max_tau_r PROPN ajst-11951 76 11 = = SYM ajst-11951 76 12 abs(min(tau_r))*20000 abs(min(tau_r))*20000 PROPN ajst-11951 76 13 ; ; PUNCT ajst-11951 76 14 ( ( PUNCT ajst-11951 76 15 20 20 NUM ajst-11951 76 16 ) ) PUNCT ajst-11951 76 17 obj_ij obj_ij X ajst-11951 77 1 = = SYM ajst-11951 78 1 1/(delta_max_t+delta_max_tau_p+delta_max_tau_q+delta 1/(delta_max_t+delta_max_tau_p+delta_max_tau_q+delta NUM ajst-11951 78 2 _ _ NOUN ajst-11951 78 3 max_tau_r)*1000 max_tau_r)*1000 NOUN ajst-11951 78 4 ; ; PUNCT ajst-11951 78 5 ( ( PUNCT ajst-11951 78 6 21 21 NUM ajst-11951 78 7 ) ) PUNCT ajst-11951 78 8 104 104 NUM ajst-11951 78 9 tau_p tau_p PROPN ajst-11951 78 10 stands stand VERB ajst-11951 78 11 for for ADP ajst-11951 78 12 this this DET ajst-11951 78 13 rolling rolling ADJ ajst-11951 78 14 moment moment NOUN ajst-11951 78 15 , , PUNCT ajst-11951 78 16 tau_q tau_q PROPN ajst-11951 78 17 stands stand VERB ajst-11951 78 18 for for ADP ajst-11951 78 19 this this DET ajst-11951 78 20 pitching pitching NOUN ajst-11951 78 21 moment moment NOUN ajst-11951 78 22 , , PUNCT ajst-11951 78 23 tau_r tau_r NOUN ajst-11951 78 24 stands stand VERB ajst-11951 78 25 for for ADP ajst-11951 78 26 this this DET ajst-11951 78 27 yawing yaw VERB ajst-11951 78 28 moment moment NOUN ajst-11951 78 29 . . PUNCT ajst-11951 79 1 the the DET ajst-11951 79 2 experimental experimental ADJ ajst-11951 79 3 data datum NOUN ajst-11951 79 4 is be AUX ajst-11951 79 5 shown show VERB ajst-11951 79 6 in in ADP ajst-11951 79 7 figure figure NOUN ajst-11951 79 8 5 5 NUM ajst-11951 79 9 - - SYM ajst-11951 79 10 9 9 NUM ajst-11951 79 11 figure figure NOUN ajst-11951 79 12 5 5 NUM ajst-11951 79 13 . . PUNCT ajst-11951 80 1 the the DET ajst-11951 80 2 convergence convergence NOUN ajst-11951 80 3 process process NOUN ajst-11951 80 4 the the DET ajst-11951 80 5 curve curve NOUN ajst-11951 80 6 becomes become VERB ajst-11951 80 7 regionally regionally ADV ajst-11951 80 8 stable stable ADJ ajst-11951 80 9 at at ADP ajst-11951 80 10 about about ADV ajst-11951 80 11 40 40 NUM ajst-11951 80 12 iterations iteration NOUN ajst-11951 80 13 , , PUNCT ajst-11951 80 14 which which PRON ajst-11951 80 15 is be AUX ajst-11951 80 16 4.09 4.09 NUM ajst-11951 80 17 figure figure NOUN ajst-11951 80 18 6 6 NUM ajst-11951 80 19 . . PUNCT ajst-11951 81 1 experimental experimental ADJ ajst-11951 81 2 data datum NOUN ajst-11951 81 3 of of ADP ajst-11951 81 4 tau_p tau_p ADJ ajst-11951 81 5 figure figure NOUN ajst-11951 81 6 7 7 NUM ajst-11951 81 7 . . PUNCT ajst-11951 81 8 experimental experimental ADJ ajst-11951 81 9 data datum NOUN ajst-11951 81 10 of of ADP ajst-11951 81 11 t t PROPN ajst-11951 81 12 figure figure NOUN ajst-11951 81 13 8 8 NUM ajst-11951 81 14 . . PUNCT ajst-11951 82 1 experimental experimental ADJ ajst-11951 82 2 data datum NOUN ajst-11951 82 3 of of ADP ajst-11951 82 4 tau_q tau_q NUM ajst-11951 82 5 figure figure NOUN ajst-11951 82 6 9 9 NUM ajst-11951 82 7 . . PUNCT ajst-11951 83 1 experimental experimental ADJ ajst-11951 83 2 data datum NOUN ajst-11951 83 3 of of ADP ajst-11951 83 4 tau_r tau_r NOUN ajst-11951 83 5 the the DET ajst-11951 83 6 overshoot overshoot ADJ ajst-11951 83 7 time time NOUN ajst-11951 83 8 of of ADP ajst-11951 83 9 the the DET ajst-11951 83 10 four four NUM ajst-11951 83 11 diagrams diagram NOUN ajst-11951 83 12 did do AUX ajst-11951 83 13 not not PART ajst-11951 83 14 change change VERB ajst-11951 83 15 much much ADV ajst-11951 83 16 , , PUNCT ajst-11951 83 17 and and CCONJ ajst-11951 83 18 the the DET ajst-11951 83 19 overshoot overshoot NOUN ajst-11951 83 20 decreased decrease VERB ajst-11951 83 21 slightly slightly ADV ajst-11951 83 22 by by ADP ajst-11951 83 23 about about ADP ajst-11951 83 24 6%the 6%the PROPN ajst-11951 83 25 results result NOUN ajst-11951 83 26 show show VERB ajst-11951 83 27 that that SCONJ ajst-11951 83 28 pso pso NOUN ajst-11951 83 29 has have VERB ajst-11951 83 30 a a DET ajst-11951 83 31 slight slight ADJ ajst-11951 83 32 optimization optimization NOUN ajst-11951 83 33 effect effect NOUN ajst-11951 83 34 on on ADP ajst-11951 83 35 pid pid NOUN ajst-11951 83 36 control control NOUN ajst-11951 83 37 of of ADP ajst-11951 83 38 the the DET ajst-11951 83 39 four four NUM ajst-11951 83 40 - - PUNCT ajst-11951 83 41 rotor rotor NOUN ajst-11951 83 42 uav uav PROPN ajst-11951 83 43 with with ADP ajst-11951 83 44 tip tip NOUN ajst-11951 83 45 defect defect NOUN ajst-11951 83 46 . . PUNCT ajst-11951 84 1 4 4 X ajst-11951 84 2 . . X ajst-11951 84 3 conclusion conclusion NOUN ajst-11951 84 4 in in ADP ajst-11951 84 5 this this DET ajst-11951 84 6 paper paper NOUN ajst-11951 84 7 , , PUNCT ajst-11951 84 8 pso pso NOUN ajst-11951 84 9 is be AUX ajst-11951 84 10 used use VERB ajst-11951 84 11 to to PART ajst-11951 84 12 optimize optimize VERB ajst-11951 84 13 pid pid NOUN ajst-11951 84 14 control control NOUN ajst-11951 84 15 in in ADP ajst-11951 84 16 the the DET ajst-11951 84 17 case case NOUN ajst-11951 84 18 of of ADP ajst-11951 84 19 blade blade NOUN ajst-11951 84 20 tip tip NOUN ajst-11951 84 21 defect defect NOUN ajst-11951 84 22 of of ADP ajst-11951 84 23 the the DET ajst-11951 84 24 four four NUM ajst-11951 84 25 - - PUNCT ajst-11951 84 26 rotor rotor NOUN ajst-11951 84 27 uav uav PROPN ajst-11951 84 28 , , PUNCT ajst-11951 84 29 and and CCONJ ajst-11951 84 30 various various ADJ ajst-11951 84 31 parameters parameter NOUN ajst-11951 84 32 of of ADP ajst-11951 84 33 pid pid NOUN ajst-11951 84 34 are be AUX ajst-11951 84 35 optimized optimize VERB ajst-11951 84 36 to to ADP ajst-11951 84 37 different different ADJ ajst-11951 84 38 degrees degree NOUN ajst-11951 84 39 , , PUNCT ajst-11951 84 40 and and CCONJ ajst-11951 84 41 certain certain ADJ ajst-11951 84 42 results result NOUN ajst-11951 84 43 are be AUX ajst-11951 84 44 obtained obtain VERB ajst-11951 84 45 after after ADP ajst-11951 84 46 optimization optimization NOUN ajst-11951 84 47 . . PUNCT ajst-11951 84 48 , , PUNCT ajst-11951 84 49 but but CCONJ ajst-11951 84 50 there there PRON ajst-11951 84 51 are be VERB ajst-11951 84 52 still still ADV ajst-11951 84 53 some some DET ajst-11951 84 54 shortcomings shortcoming NOUN ajst-11951 84 55 in in ADP ajst-11951 84 56 this this DET ajst-11951 84 57 paper.the paper.the DET ajst-11951 84 58 main main ADJ ajst-11951 84 59 reason reason NOUN ajst-11951 84 60 is be AUX ajst-11951 84 61 that that SCONJ ajst-11951 84 62 the the DET ajst-11951 84 63 number number NOUN ajst-11951 84 64 of of ADP ajst-11951 84 65 iterations iteration NOUN ajst-11951 84 66 of of ADP ajst-11951 84 67 particle particle NOUN ajst-11951 84 68 swarm swarm NOUN ajst-11951 84 69 optimization optimization NOUN ajst-11951 84 70 algorithm algorithm NOUN ajst-11951 84 71 is be AUX ajst-11951 84 72 small small ADJ ajst-11951 84 73 , , PUNCT ajst-11951 84 74 and and CCONJ ajst-11951 84 75 the the DET ajst-11951 84 76 optimization optimization NOUN ajst-11951 84 77 of of ADP ajst-11951 84 78 some some DET ajst-11951 84 79 modules module NOUN ajst-11951 84 80 may may AUX ajst-11951 84 81 have have VERB ajst-11951 84 82 a a DET ajst-11951 84 83 weakening weaken VERB ajst-11951 84 84 effect effect NOUN ajst-11951 84 85 on on ADP ajst-11951 84 86 other other ADJ ajst-11951 84 87 modules module NOUN ajst-11951 84 88 . . PUNCT ajst-11951 85 1 references reference NOUN ajst-11951 85 2 [ [ X ajst-11951 85 3 1 1 NUM ajst-11951 85 4 ] ] X ajst-11951 85 5 liu liu PROPN ajst-11951 85 6 x x PROPN ajst-11951 85 7 , , PUNCT ajst-11951 85 8 zhang zhang PROPN ajst-11951 85 9 w w PROPN ajst-11951 85 10 , , PUNCT ajst-11951 85 11 li li PROPN ajst-11951 85 12 g g PROPN ajst-11951 85 13 , , PUNCT ajst-11951 85 14 et et PROPN ajst-11951 85 15 al al PROPN ajst-11951 85 16 . . PUNCT ajst-11951 85 17 ( ( PUNCT ajst-11951 85 18 2006 2006 NUM ajst-11951 85 19 ) ) PUNCT ajst-11951 85 20 . . PUNCT ajst-11951 86 1 technical technical ADJ ajst-11951 86 2 problems problem NOUN ajst-11951 86 3 of of ADP ajst-11951 86 4 autonomous autonomous ADJ ajst-11951 86 5 formation formation NOUN ajst-11951 86 6 flight flight NOUN ajst-11951 86 7 control control NOUN ajst-11951 86 8 of of ADP ajst-11951 86 9 unmanned unmanned ADJ ajst-11951 86 10 aerial aerial ADJ ajst-11951 86 11 vehicles vehicle NOUN ajst-11951 86 12 . . PUNCT ajst-11951 87 1 electrooptics electrooptic NOUN ajst-11951 87 2 and and CCONJ ajst-11951 87 3 control control NOUN ajst-11951 87 4 , , PUNCT ajst-11951 87 5 06:28 06:28 NUM ajst-11951 87 6 - - SYM ajst-11951 87 7 31 31 NUM ajst-11951 87 8 . . PUNCT ajst-11951 88 1 [ [ X ajst-11951 88 2 2 2 X ajst-11951 88 3 ] ] X ajst-11951 88 4 wang wang PROPN ajst-11951 88 5 j j PROPN ajst-11951 88 6 , , PUNCT ajst-11951 88 7 yang yang PROPN ajst-11951 88 8 h h PROPN ajst-11951 88 9 , , PUNCT ajst-11951 88 10 wang wang PROPN ajst-11951 88 11 d d PROPN ajst-11951 88 12 , , PUNCT ajst-11951 88 13 et et PROPN ajst-11951 88 14 al al PROPN ajst-11951 88 15 . . PROPN ajst-11951 89 1 ( ( PUNCT ajst-11951 89 2 2022 2022 NUM ajst-11951 89 3 ) ) PUNCT ajst-11951 89 4 . . PUNCT ajst-11951 90 1 modeling modeling NOUN ajst-11951 90 2 of of ADP ajst-11951 90 3 tip tip NOUN ajst-11951 90 4 defect defect NOUN ajst-11951 90 5 of of ADP ajst-11951 90 6 four four NUM ajst-11951 90 7 - - PUNCT ajst-11951 90 8 rotor rotor NOUN ajst-11951 90 9 uav uav PROPN ajst-11951 90 10 . . PUNCT ajst-11951 91 1 international international PROPN ajst-11951 91 2 journal journal PROPN ajst-11951 91 3 of of ADP ajst-11951 91 4 aerospace aerospace NOUN ajst-11951 91 5 science science NOUN ajst-11951 91 6 , , PUNCT ajst-11951 91 7 10(2 10(2 NUM ajst-11951 91 8 ): ): PUNCT ajst-11951 91 9 7 7 NUM ajst-11951 91 10 . . PUNCT ajst-11951 92 1 [ [ X ajst-11951 92 2 3 3 NUM ajst-11951 92 3 ] ] PUNCT ajst-11951 92 4 xu xu PROPN ajst-11951 93 1 p p X ajst-11951 93 2 , , PUNCT ajst-11951 93 3 wu wu PROPN ajst-11951 93 4 y y PROPN ajst-11951 93 5 , , PUNCT ajst-11951 93 6 zuo zuo PROPN ajst-11951 93 7 j j PROPN ajst-11951 93 8 , , PUNCT ajst-11951 93 9 et et PROPN ajst-11951 93 10 al al PROPN ajst-11951 93 11 . . PROPN ajst-11951 94 1 ( ( PUNCT ajst-11951 94 2 2018 2018 NUM ajst-11951 94 3 ) ) PUNCT ajst-11951 94 4 longitudinal longitudinal ADJ ajst-11951 94 5 attitude attitude NOUN ajst-11951 94 6 control control NOUN ajst-11951 94 7 of of ADP ajst-11951 94 8 uav uav PROPN ajst-11951 94 9 based base VERB ajst-11951 94 10 on on ADP ajst-11951 94 11 fuzzy fuzzy ADJ ajst-11951 94 12 pid pid PROPN ajst-11951 94 13 . . PROPN ajst-11951 94 14 2018 2018 NUM ajst-11951 94 15 ieee ieee PROPN ajst-11951 94 16 csaa csaa PROPN ajst-11951 94 17 guidance guidance NOUN ajst-11951 94 18 , , PUNCT ajst-11951 94 19 navigation navigation NOUN ajst-11951 94 20 and and CCONJ ajst-11951 94 21 control control PROPN ajst-11951 94 22 conference conference PROPN ajst-11951 94 23 ( ( PUNCT ajst-11951 94 24 cgncc cgncc ADJ ajst-11951 94 25 ) ) PUNCT ajst-11951 94 26 . . PUNCT ajst-11951 95 1 xiamen xiamen PROPN ajst-11951 95 2 . . PUNCT ajst-11951 96 1 [ [ X ajst-11951 96 2 4 4 X ajst-11951 96 3 ] ] X ajst-11951 96 4 wang wang PROPN ajst-11951 96 5 h. h. PROPN ajst-11951 96 6 ( ( PUNCT ajst-11951 96 7 2020 2020 NUM ajst-11951 96 8 ) ) PUNCT ajst-11951 96 9 application application NOUN ajst-11951 96 10 of of ADP ajst-11951 96 11 pid pid NOUN ajst-11951 96 12 control control NOUN ajst-11951 96 13 in in ADP ajst-11951 96 14 industrial industrial ADJ ajst-11951 96 15 production production NOUN ajst-11951 96 16 . . PUNCT ajst-11951 97 1 journal journal NOUN ajst-11951 97 2 of of ADP ajst-11951 97 3 biotron biotron PROPN ajst-11951 97 4 electronics electronic NOUN ajst-11951 97 5 , , PUNCT ajst-11951 97 6 12:82 12:82 NUM ajst-11951 97 7 . . PUNCT ajst-11951 98 1 105 105 NUM ajst-11951 99 1 [ [ X ajst-11951 99 2 5 5 NUM ajst-11951 99 3 ] ] X ajst-11951 99 4 zadeh zadeh PROPN ajst-11951 99 5 . . PUNCT ajst-11951 100 1 ( ( PUNCT ajst-11951 100 2 1977 1977 NUM ajst-11951 100 3 ) ) PUNCT ajst-11951 100 4 theory theory NOUN ajst-11951 100 5 of of ADP ajst-11951 100 6 fuzzy fuzzy ADJ ajst-11951 100 7 sets set NOUN ajst-11951 100 8 , , PUNCT ajst-11951 100 9 encyclopedia encyclopedia NOUN ajst-11951 100 10 of of ADP ajst-11951 100 11 computer computer NOUN ajst-11951 100 12 science science NOUN ajst-11951 100 13 and and CCONJ ajst-11951 100 14 technology technology NOUN ajst-11951 100 15 . . PUNCT ajst-11951 101 1 marcel marcel PROPN ajst-11951 101 2 dekker dekker PROPN ajst-11951 101 3 , , PUNCT ajst-11951 101 4 nueva nueva PROPN ajst-11951 101 5 york york PROPN ajst-11951 101 6 , , PUNCT ajst-11951 101 7 l.a l.a PROPN ajst-11951 101 8 . . PUNCT ajst-11951 102 1 [ [ X ajst-11951 102 2 6 6 NUM ajst-11951 102 3 ] ] PUNCT ajst-11951 102 4 a. a. NOUN ajst-11951 102 5 ramΓ­rez ramΓ­rez PROPN ajst-11951 102 6 - - PUNCT ajst-11951 102 7 mendoza mendoza PROPN ajst-11951 102 8 , , PUNCT ajst-11951 102 9 j. j. PROPN ajst-11951 102 10 l. l. PROPN ajst-11951 102 11 pΓ©rez pΓ©rez PROPN ajst-11951 102 12 - - PUNCT ajst-11951 102 13 silva silva PROPN ajst-11951 102 14 , , PUNCT ajst-11951 102 15 f. f. PROPN ajst-11951 102 16 lararosano lararosano PROPN ajst-11951 102 17 . . PUNCT ajst-11951 103 1 ( ( PUNCT ajst-11951 103 2 2011 2011 NUM ajst-11951 103 3 ) ) PUNCT ajst-11951 103 4 electronic electronic ADJ ajst-11951 103 5 implementation implementation NOUN ajst-11951 103 6 of of ADP ajst-11951 103 7 a a DET ajst-11951 103 8 fuzzy fuzzy ADJ ajst-11951 103 9 neuron neuron NOUN ajst-11951 103 10 model model NOUN ajst-11951 103 11 with with ADP ajst-11951 103 12 a a DET ajst-11951 103 13 gupta gupta PROPN ajst-11951 103 14 integrator integrator NOUN ajst-11951 103 15 . . PUNCT ajst-11951 104 1 jart jart PROPN ajst-11951 104 2 - - PUNCT ajst-11951 104 3 journal journal PROPN ajst-11951 104 4 of of ADP ajst-11951 104 5 applied apply VERB ajst-11951 104 6 research research NOUN ajst-11951 104 7 and and CCONJ ajst-11951 104 8 technology technology NOUN ajst-11951 104 9 , , PUNCT ajst-11951 104 10 9(3):380 9(3):380 NUM ajst-11951 104 11 - - SYM ajst-11951 104 12 393 393 NUM ajst-11951 104 13 . . PUNCT ajst-11951 105 1 [ [ X ajst-11951 105 2 7 7 X ajst-11951 105 3 ] ] X ajst-11951 105 4 marini marini PROPN ajst-11951 105 5 f f PROPN ajst-11951 105 6 , , PUNCT ajst-11951 105 7 and and CCONJ ajst-11951 105 8 walczak walczak PROPN ajst-11951 105 9 b. b. PROPN ajst-11951 105 10 ( ( PUNCT ajst-11951 105 11 2015 2015 NUM ajst-11951 105 12 ) ) PUNCT ajst-11951 105 13 particle particle NOUN ajst-11951 105 14 swarm swarm NOUN ajst-11951 105 15 optimization optimization NOUN ajst-11951 105 16 ( ( PUNCT ajst-11951 105 17 pso pso NOUN ajst-11951 105 18 ) ) PUNCT ajst-11951 105 19 . . PUNCT ajst-11951 106 1 a a DET ajst-11951 106 2 tutorial tutorial NOUN ajst-11951 106 3 sciencedirect sciencedirect NOUN ajst-11951 106 4 . . PUNCT ajst-11951 106 5 chemometrics chemometric NOUN ajst-11951 106 6 and and CCONJ ajst-11951 106 7 intelligent intelligent ADJ ajst-11951 106 8 laboratory laboratory NOUN ajst-11951 106 9 systems system NOUN ajst-11951 106 10 , , PUNCT ajst-11951 106 11 149:153 149:153 NUM ajst-11951 106 12 - - PUNCT ajst-11951 106 13 165 165 NUM ajst-11951 106 14 . . PUNCT ajst-11951 107 1 [ [ X ajst-11951 107 2 8 8 NUM ajst-11951 107 3 ] ] X ajst-11951 107 4 wang wang PROPN ajst-11951 107 5 y y PROPN ajst-11951 107 6 , , PUNCT ajst-11951 107 7 yu yu PROPN ajst-11951 107 8 h. h. PROPN ajst-11951 107 9 ( ( PUNCT ajst-11951 107 10 2019 2019 NUM ajst-11951 107 11 ) ) PUNCT ajst-11951 107 12 . . PUNCT ajst-11951 108 1 quadrotor quadrotor NOUN ajst-11951 108 2 pid pid NOUN ajst-11951 108 3 control control NOUN ajst-11951 108 4 system system NOUN ajst-11951 108 5 based base VERB ajst-11951 108 6 on on ADP ajst-11951 108 7 particle particle NOUN ajst-11951 108 8 swarm swarm NOUN ajst-11951 108 9 optimization optimization NOUN ajst-11951 108 10 . . PUNCT ajst-11951 109 1 micro micro PROPN ajst-11951 109 2 electric electric PROPN ajst-11951 109 3 machine machine NOUN ajst-11951 109 4 , , PUNCT ajst-11951 109 5 06:80 06:80 NUM ajst-11951 109 6 - - SYM ajst-11951 109 7 82 82 NUM ajst-11951 109 8 . . PUNCT ajst-11951 110 1 [ [ X ajst-11951 110 2 9 9 NUM ajst-11951 110 3 ] ] X ajst-11951 110 4 mendoza mendoza PROPN ajst-11951 110 5 a a PROPN ajst-11951 110 6 , , PUNCT ajst-11951 110 7 wen wen PROPN ajst-11951 110 8 y. y. PROPN ajst-11951 110 9 ( ( PUNCT ajst-11951 110 10 2023 2023 NUM ajst-11951 110 11 ) ) PUNCT ajst-11951 110 12 fuzzy fuzzy ADJ ajst-11951 110 13 adaptive adaptive ADJ ajst-11951 110 14 control control NOUN ajst-11951 110 15 law law NOUN ajst-11951 110 16 for for ADP ajst-11951 110 17 trajectory trajectory NOUN ajst-11951 110 18 tracking tracking NOUN ajst-11951 110 19 based base VERB ajst-11951 110 20 on on ADP ajst-11951 110 21 a a DET ajst-11951 110 22 fuzzy fuzzy ADJ ajst-11951 110 23 adaptive adaptive ADJ ajst-11951 110 24 neural neural ADJ ajst-11951 110 25 pid pid NOUN ajst-11951 110 26 controller controller NOUN ajst-11951 110 27 of of ADP ajst-11951 110 28 a a DET ajst-11951 110 29 multi multi ADJ ajst-11951 110 30 - - ADJ ajst-11951 110 31 rotor rotor ADJ ajst-11951 110 32 unmanned unmanned ADJ ajst-11951 110 33 aerial aerial ADJ ajst-11951 110 34 vehicle vehicle NOUN ajst-11951 110 35 . . PUNCT ajst-11951 110 36 international international ADJ ajst-11951 110 37 journal journal PROPN ajst-11951 110 38 of of ADP ajst-11951 110 39 control control NOUN ajst-11951 110 40 , , PUNCT ajst-11951 110 41 automation automation NOUN ajst-11951 110 42 , , PUNCT ajst-11951 110 43 and and CCONJ ajst-11951 110 44 systems system NOUN ajst-11951 110 45 , , PUNCT ajst-11951 110 46 21:51 21:51 NUM ajst-11951 110 47 - - SYM ajst-11951 110 48 59 59 NUM ajst-11951 110 49 . . PUNCT ajst-11951 111 1 [ [ X ajst-11951 111 2 10 10 NUM ajst-11951 111 3 ] ] PUNCT ajst-11951 111 4 eswaran eswaran VERB ajst-11951 111 5 p p NOUN ajst-11951 111 6 , , PUNCT ajst-11951 111 7 guda guda NOUN ajst-11951 111 8 m m PROPN ajst-11951 111 9 , , PUNCT ajst-11951 111 10 priya priya PROPN ajst-11951 111 11 m m PROPN ajst-11951 111 12 , , PUNCT ajst-11951 111 13 et et PROPN ajst-11951 111 14 al al PROPN ajst-11951 111 15 . . PROPN ajst-11951 112 1 ( ( PUNCT ajst-11951 112 2 2015 2015 NUM ajst-11951 112 3 ) ) PUNCT ajst-11951 112 4 stabilization stabilization NOUN ajst-11951 112 5 of of ADP ajst-11951 112 6 uav uav PROPN ajst-11951 112 7 quadcopter quadcopter PROPN ajst-11951 112 8 . . PUNCT ajst-11951 113 1 proceedings proceeding NOUN ajst-11951 113 2 of of ADP ajst-11951 113 3 the the DET ajst-11951 113 4 international international ADJ ajst-11951 113 5 conference conference NOUN ajst-11951 113 6 on on ADP ajst-11951 113 7 soft soft ADJ ajst-11951 113 8 computing computing NOUN ajst-11951 113 9 systems system NOUN ajst-11951 113 10 , , PUNCT ajst-11951 113 11 1(397):827 1(397):827 NUM ajst-11951 113 12 - - SYM ajst-11951 113 13 837 837 NUM ajst-11951 113 14 . . PUNCT