id	sid	tid	token	lemma	pos
ajst-17385	1	1	academic	academic	ADJ
ajst-17385	1	2	journal	journal	NOUN
ajst-17385	1	3	of	of	ADP
ajst-17385	1	4	science	science	NOUN
ajst-17385	1	5	and	and	CCONJ
ajst-17385	1	6	technology	technology	NOUN
ajst-17385	1	7	issn	issn	NOUN
ajst-17385	1	8	:	:	PUNCT
ajst-17385	1	9	2771	2771	NUM
ajst-17385	1	10	-	-	SYM
ajst-17385	1	11	3032	3032	NUM
ajst-17385	1	12	|	|	NOUN
ajst-17385	1	13	vol	vol	NOUN
ajst-17385	1	14	.	.	PROPN
ajst-17385	2	1	9	9	NUM
ajst-17385	2	2	,	,	PUNCT
ajst-17385	2	3	no	no	INTJ
ajst-17385	2	4	.	.	NOUN
ajst-17385	2	5	2	2	NUM
ajst-17385	2	6	2024	2024	NUM
ajst-17385	2	7	44	44	NUM
ajst-17385	2	8	classical	classical	ADJ
ajst-17385	2	9	pid	pid	NOUN
ajst-17385	2	10	control	control	NOUN
ajst-17385	2	11	of	of	ADP
ajst-17385	2	12	a	a	DET
ajst-17385	2	13	quadcopter	quadcopter	PROPN
ajst-17385	2	14	uav	uav	PROPN
ajst-17385	2	15	under	under	ADP
ajst-17385	2	16	variable	variable	ADJ
ajst-17385	2	17	load	load	NOUN
ajst-17385	2	18	conditions	condition	NOUN
ajst-17385	2	19	haoyang	haoyang	PROPN
ajst-17385	2	20	zhao1	zhao1	PROPN
ajst-17385	2	21	,	,	PUNCT
ajst-17385	2	22	a	a	DET
ajst-17385	2	23	1college	1college	PROPN
ajst-17385	2	24	of	of	ADP
ajst-17385	2	25	mechatronics	mechatronic	NOUN
ajst-17385	2	26	and	and	CCONJ
ajst-17385	2	27	vehicle	vehicle	NOUN
ajst-17385	2	28	engineering	engineering	NOUN
ajst-17385	2	29	,	,	PUNCT
ajst-17385	2	30	east	east	PROPN
ajst-17385	2	31	china	china	PROPN
ajst-17385	2	32	jiaotong	jiaotong	PROPN
ajst-17385	2	33	university	university	PROPN
ajst-17385	2	34	,	,	PUNCT
ajst-17385	2	35	nanchang	nanchang	PROPN
ajst-17385	2	36	,	,	PUNCT
ajst-17385	2	37	330013	330013	NUM
ajst-17385	2	38	,	,	PUNCT
ajst-17385	2	39	china	china	PROPN
ajst-17385	2	40	azhy18612713011@outlook.com	azhy18612713011@outlook.com	X
ajst-17385	2	41	abstract	abstract	PROPN
ajst-17385	2	42	:	:	PUNCT
ajst-17385	2	43	in	in	ADP
ajst-17385	2	44	recent	recent	ADJ
ajst-17385	2	45	years	year	NOUN
ajst-17385	2	46	,	,	PUNCT
ajst-17385	2	47	the	the	DET
ajst-17385	2	48	application	application	NOUN
ajst-17385	2	49	of	of	ADP
ajst-17385	2	50	uavs	uavs	NOUN
ajst-17385	2	51	has	have	AUX
ajst-17385	2	52	become	become	VERB
ajst-17385	2	53	more	more	ADV
ajst-17385	2	54	and	and	CCONJ
ajst-17385	2	55	more	more	ADV
ajst-17385	2	56	extensive	extensive	ADJ
ajst-17385	2	57	,	,	PUNCT
ajst-17385	2	58	resulting	result	VERB
ajst-17385	2	59	in	in	ADP
ajst-17385	2	60	a	a	DET
ajst-17385	2	61	number	number	NOUN
ajst-17385	2	62	of	of	ADP
ajst-17385	2	63	special	special	ADJ
ajst-17385	2	64	operation	operation	NOUN
ajst-17385	2	65	uavs	uavs	NOUN
ajst-17385	2	66	.	.	PUNCT
ajst-17385	3	1	quadrotor	quadrotor	PROPN
ajst-17385	3	2	aerial	aerial	ADJ
ajst-17385	3	3	robots	robot	NOUN
ajst-17385	3	4	have	have	AUX
ajst-17385	3	5	become	become	VERB
ajst-17385	3	6	one	one	NUM
ajst-17385	3	7	of	of	ADP
ajst-17385	3	8	the	the	DET
ajst-17385	3	9	most	most	ADV
ajst-17385	3	10	popular	popular	ADJ
ajst-17385	3	11	vehicles	vehicle	NOUN
ajst-17385	3	12	at	at	ADP
ajst-17385	3	13	home	home	NOUN
ajst-17385	3	14	and	and	CCONJ
ajst-17385	3	15	abroad	abroad	ADV
ajst-17385	3	16	because	because	SCONJ
ajst-17385	3	17	of	of	ADP
ajst-17385	3	18	their	their	PRON
ajst-17385	3	19	small	small	ADJ
ajst-17385	3	20	size	size	NOUN
ajst-17385	3	21	,	,	PUNCT
ajst-17385	3	22	light	light	ADJ
ajst-17385	3	23	weight	weight	NOUN
ajst-17385	3	24	,	,	PUNCT
ajst-17385	3	25	simple	simple	ADJ
ajst-17385	3	26	structure	structure	NOUN
ajst-17385	3	27	,	,	PUNCT
ajst-17385	3	28	low	low	ADJ
ajst-17385	3	29	cost	cost	NOUN
ajst-17385	3	30	,	,	PUNCT
ajst-17385	3	31	low	low	ADJ
ajst-17385	3	32	requirements	requirement	NOUN
ajst-17385	3	33	for	for	ADP
ajst-17385	3	34	takeoff	takeoff	NOUN
ajst-17385	3	35	and	and	CCONJ
ajst-17385	3	36	landing	landing	NOUN
ajst-17385	3	37	,	,	PUNCT
ajst-17385	3	38	and	and	CCONJ
ajst-17385	3	39	good	good	ADJ
ajst-17385	3	40	maneuverability	maneuverability	NOUN
ajst-17385	3	41	.	.	PUNCT
ajst-17385	4	1	uavs	uavs	PROPN
ajst-17385	4	2	are	be	AUX
ajst-17385	4	3	required	require	VERB
ajst-17385	4	4	to	to	PART
ajst-17385	4	5	perform	perform	VERB
ajst-17385	4	6	different	different	ADJ
ajst-17385	4	7	tasks	task	NOUN
ajst-17385	4	8	in	in	ADP
ajst-17385	4	9	the	the	DET
ajst-17385	4	10	current	current	ADJ
ajst-17385	4	11	complex	complex	ADJ
ajst-17385	4	12	environment	environment	NOUN
ajst-17385	4	13	,	,	PUNCT
ajst-17385	4	14	so	so	ADV
ajst-17385	4	15	variable	variable	ADJ
ajst-17385	4	16	loads	load	NOUN
ajst-17385	4	17	are	be	AUX
ajst-17385	4	18	inevitable	inevitable	ADJ
ajst-17385	4	19	,	,	PUNCT
ajst-17385	4	20	and	and	CCONJ
ajst-17385	4	21	the	the	DET
ajst-17385	4	22	stability	stability	NOUN
ajst-17385	4	23	of	of	ADP
ajst-17385	4	24	the	the	DET
ajst-17385	4	25	uav	uav	PROPN
ajst-17385	4	26	body	body	NOUN
ajst-17385	4	27	is	be	AUX
ajst-17385	4	28	especially	especially	ADV
ajst-17385	4	29	important	important	ADJ
ajst-17385	4	30	when	when	SCONJ
ajst-17385	4	31	performing	perform	VERB
ajst-17385	4	32	variable	variable	ADJ
ajst-17385	4	33	loads	load	NOUN
ajst-17385	4	34	,	,	PUNCT
ajst-17385	4	35	and	and	CCONJ
ajst-17385	4	36	there	there	PRON
ajst-17385	4	37	are	be	VERB
ajst-17385	4	38	many	many	ADJ
ajst-17385	4	39	ways	way	NOUN
ajst-17385	4	40	to	to	PART
ajst-17385	4	41	help	help	VERB
ajst-17385	4	42	and	and	CCONJ
ajst-17385	4	43	verify	verify	VERB
ajst-17385	4	44	the	the	DET
ajst-17385	4	45	attitude	attitude	NOUN
ajst-17385	4	46	of	of	ADP
ajst-17385	4	47	the	the	DET
ajst-17385	4	48	uav	uav	PROPN
ajst-17385	4	49	during	during	ADP
ajst-17385	4	50	flight	flight	NOUN
ajst-17385	4	51	.	.	PUNCT
ajst-17385	5	1	in	in	ADP
ajst-17385	5	2	this	this	DET
ajst-17385	5	3	paper	paper	NOUN
ajst-17385	5	4	,	,	PUNCT
ajst-17385	5	5	in	in	ADP
ajst-17385	5	6	order	order	NOUN
ajst-17385	5	7	to	to	PART
ajst-17385	5	8	more	more	ADV
ajst-17385	5	9	intuitively	intuitively	ADV
ajst-17385	5	10	see	see	VERB
ajst-17385	5	11	the	the	DET
ajst-17385	5	12	self	self	NOUN
ajst-17385	5	13	-	-	PUNCT
ajst-17385	5	14	generated	generate	VERB
ajst-17385	5	15	stability	stability	NOUN
ajst-17385	5	16	of	of	ADP
ajst-17385	5	17	the	the	DET
ajst-17385	5	18	uav	uav	PROPN
ajst-17385	5	19	under	under	ADP
ajst-17385	5	20	variable	variable	ADJ
ajst-17385	5	21	load	load	NOUN
ajst-17385	5	22	conditions	condition	NOUN
ajst-17385	5	23	,	,	PUNCT
ajst-17385	5	24	the	the	DET
ajst-17385	5	25	dynamics	dynamic	NOUN
ajst-17385	5	26	model	model	NOUN
ajst-17385	5	27	of	of	ADP
ajst-17385	5	28	the	the	DET
ajst-17385	5	29	uav	uav	PROPN
ajst-17385	5	30	will	will	AUX
ajst-17385	5	31	be	be	AUX
ajst-17385	5	32	established	establish	VERB
ajst-17385	5	33	first	first	ADV
ajst-17385	5	34	,	,	PUNCT
ajst-17385	5	35	and	and	CCONJ
ajst-17385	5	36	the	the	DET
ajst-17385	5	37	simulation	simulation	NOUN
ajst-17385	5	38	results	result	NOUN
ajst-17385	5	39	show	show	VERB
ajst-17385	5	40	that	that	SCONJ
ajst-17385	5	41	the	the	DET
ajst-17385	5	42	movement	movement	NOUN
ajst-17385	5	43	of	of	ADP
ajst-17385	5	44	the	the	DET
ajst-17385	5	45	uav	uav	PROPN
ajst-17385	5	46	has	have	VERB
ajst-17385	5	47	a	a	DET
ajst-17385	5	48	very	very	ADV
ajst-17385	5	49	good	good	ADJ
ajst-17385	5	50	stability	stability	NOUN
ajst-17385	5	51	.	.	PUNCT
ajst-17385	6	1	however	however	ADV
ajst-17385	6	2	,	,	PUNCT
ajst-17385	6	3	in	in	ADP
ajst-17385	6	4	the	the	DET
ajst-17385	6	5	previous	previous	ADJ
ajst-17385	6	6	research	research	NOUN
ajst-17385	6	7	,	,	PUNCT
ajst-17385	6	8	it	it	PRON
ajst-17385	6	9	is	be	AUX
ajst-17385	6	10	not	not	PART
ajst-17385	6	11	possible	possible	ADJ
ajst-17385	6	12	to	to	PART
ajst-17385	6	13	visualize	visualize	VERB
ajst-17385	6	14	the	the	DET
ajst-17385	6	15	stability	stability	NOUN
ajst-17385	6	16	and	and	CCONJ
ajst-17385	6	17	flight	flight	NOUN
ajst-17385	6	18	state	state	NOUN
ajst-17385	6	19	of	of	ADP
ajst-17385	6	20	the	the	DET
ajst-17385	6	21	uav	uav	PROPN
ajst-17385	6	22	when	when	SCONJ
ajst-17385	6	23	it	it	PRON
ajst-17385	6	24	is	be	AUX
ajst-17385	6	25	flying	fly	VERB
ajst-17385	6	26	under	under	ADP
ajst-17385	6	27	variable	variable	ADJ
ajst-17385	6	28	load	load	NOUN
ajst-17385	6	29	,	,	PUNCT
ajst-17385	6	30	this	this	DET
ajst-17385	6	31	paper	paper	NOUN
ajst-17385	6	32	will	will	AUX
ajst-17385	6	33	make	make	VERB
ajst-17385	6	34	the	the	DET
ajst-17385	6	35	uav	uav	PROPN
ajst-17385	6	36	keep	keep	VERB
ajst-17385	6	37	its	its	PRON
ajst-17385	6	38	own	own	ADJ
ajst-17385	6	39	flight	flight	NOUN
ajst-17385	6	40	stability	stability	NOUN
ajst-17385	6	41	under	under	ADP
ajst-17385	6	42	two	two	NUM
ajst-17385	6	43	kinds	kind	NOUN
ajst-17385	6	44	of	of	ADP
ajst-17385	6	45	loads	load	NOUN
ajst-17385	6	46	through	through	ADP
ajst-17385	6	47	the	the	DET
ajst-17385	6	48	pid	pid	NOUN
ajst-17385	6	49	design	design	NOUN
ajst-17385	6	50	model	model	NOUN
ajst-17385	6	51	.	.	PUNCT
ajst-17385	7	1	at	at	ADP
ajst-17385	7	2	the	the	DET
ajst-17385	7	3	same	same	ADJ
ajst-17385	7	4	time	time	NOUN
ajst-17385	7	5	,	,	PUNCT
ajst-17385	7	6	the	the	DET
ajst-17385	7	7	function	function	NOUN
ajst-17385	7	8	of	of	ADP
ajst-17385	7	9	the	the	DET
ajst-17385	7	10	uav	uav	PROPN
ajst-17385	7	11	's	's	PART
ajst-17385	7	12	own	own	ADJ
ajst-17385	7	13	mass	mass	NOUN
ajst-17385	7	14	change	change	NOUN
ajst-17385	7	15	during	during	ADP
ajst-17385	7	16	flight	flight	NOUN
ajst-17385	7	17	is	be	AUX
ajst-17385	7	18	found	find	VERB
ajst-17385	7	19	,	,	PUNCT
ajst-17385	7	20	and	and	CCONJ
ajst-17385	7	21	the	the	DET
ajst-17385	7	22	design	design	NOUN
ajst-17385	7	23	function	function	NOUN
ajst-17385	7	24	is	be	AUX
ajst-17385	7	25	used	use	VERB
ajst-17385	7	26	to	to	PART
ajst-17385	7	27	show	show	VERB
ajst-17385	7	28	the	the	DET
ajst-17385	7	29	stability	stability	NOUN
ajst-17385	7	30	curve	curve	NOUN
ajst-17385	7	31	of	of	ADP
ajst-17385	7	32	the	the	DET
ajst-17385	7	33	uav	uav	PROPN
ajst-17385	7	34	when	when	SCONJ
ajst-17385	7	35	it	it	PRON
ajst-17385	7	36	flies	fly	VERB
ajst-17385	7	37	with	with	ADP
ajst-17385	7	38	its	its	PRON
ajst-17385	7	39	own	own	ADJ
ajst-17385	7	40	changing	change	VERB
ajst-17385	7	41	mass	mass	NOUN
ajst-17385	7	42	.	.	PUNCT
ajst-17385	8	1	through	through	ADP
ajst-17385	8	2	the	the	DET
ajst-17385	8	3	final	final	ADJ
ajst-17385	8	4	simulation	simulation	NOUN
ajst-17385	8	5	and	and	CCONJ
ajst-17385	8	6	calculation	calculation	NOUN
ajst-17385	8	7	,	,	PUNCT
ajst-17385	8	8	the	the	DET
ajst-17385	8	9	experiment	experiment	NOUN
ajst-17385	8	10	found	find	VERB
ajst-17385	8	11	that	that	SCONJ
ajst-17385	8	12	through	through	ADP
ajst-17385	8	13	the	the	DET
ajst-17385	8	14	pid	pid	NOUN
ajst-17385	8	15	control	control	NOUN
ajst-17385	8	16	,	,	PUNCT
ajst-17385	8	17	the	the	DET
ajst-17385	8	18	flight	flight	NOUN
ajst-17385	8	19	state	state	NOUN
ajst-17385	8	20	of	of	ADP
ajst-17385	8	21	the	the	DET
ajst-17385	8	22	uav	uav	PROPN
ajst-17385	8	23	when	when	SCONJ
ajst-17385	8	24	flying	fly	VERB
ajst-17385	8	25	with	with	ADP
ajst-17385	8	26	variable	variable	ADJ
ajst-17385	8	27	load	load	NOUN
ajst-17385	8	28	can	can	AUX
ajst-17385	8	29	be	be	AUX
ajst-17385	8	30	observed	observe	VERB
ajst-17385	8	31	more	more	ADV
ajst-17385	8	32	intuitively	intuitively	ADV
ajst-17385	8	33	,	,	PUNCT
ajst-17385	8	34	and	and	CCONJ
ajst-17385	8	35	the	the	DET
ajst-17385	8	36	stability	stability	NOUN
ajst-17385	8	37	state	state	NOUN
ajst-17385	8	38	of	of	ADP
ajst-17385	8	39	the	the	DET
ajst-17385	8	40	uav	uav	PROPN
ajst-17385	8	41	when	when	SCONJ
ajst-17385	8	42	flying	fly	VERB
ajst-17385	8	43	can	can	AUX
ajst-17385	8	44	also	also	ADV
ajst-17385	8	45	be	be	AUX
ajst-17385	8	46	observed	observe	VERB
ajst-17385	8	47	.	.	PUNCT
ajst-17385	9	1	keywords	keyword	NOUN
ajst-17385	9	2	:	:	PUNCT
ajst-17385	9	3	quadcopter	quadcopter	PROPN
ajst-17385	9	4	uav	uav	PROPN
ajst-17385	9	5	,	,	PUNCT
ajst-17385	9	6	classical	classical	ADJ
ajst-17385	9	7	pid	pid	NOUN
ajst-17385	9	8	control	control	NOUN
ajst-17385	9	9	,	,	PUNCT
ajst-17385	9	10	variable	variable	ADJ
ajst-17385	9	11	loads	load	NOUN
ajst-17385	9	12	.	.	PUNCT
ajst-17385	10	1	1	1	X
ajst-17385	10	2	.	.	X
ajst-17385	10	3	uav	uav	PROPN
ajst-17385	10	4	power	power	PROPN
ajst-17385	10	5	model	model	PROPN
ajst-17385	10	6	figure	figure	NOUN
ajst-17385	10	7	1	1	NUM
ajst-17385	10	8	.	.	PUNCT
ajst-17385	10	9	axis	axis	ADJ
ajst-17385	10	10	definitions	definition	NOUN
ajst-17385	10	11	pid	pid	NOUN
ajst-17385	10	12	modeling	modeling	NOUN
ajst-17385	10	13	through	through	ADP
ajst-17385	10	14	quadcopter	quadcopter	PROPN
ajst-17385	10	15	uav	uav	PROPN
ajst-17385	10	16	dynamics	dynamic	VERB
ajst-17385	10	17	formulation	formulation	NOUN
ajst-17385	10	18	this	this	DET
ajst-17385	10	19	paper	paper	NOUN
ajst-17385	10	20	use	use	VERB
ajst-17385	10	21	a	a	DET
ajst-17385	10	22	quadcopter	quadcopter	NOUN
ajst-17385	10	23	uav	uav	PROPN
ajst-17385	10	24	and	and	CCONJ
ajst-17385	10	25	set	set	VERB
ajst-17385	10	26	the	the	DET
ajst-17385	10	27	earth	earth	NOUN
ajst-17385	10	28	as	as	ADP
ajst-17385	10	29	the	the	DET
ajst-17385	10	30	reference	reference	NOUN
ajst-17385	10	31	system	system	NOUN
ajst-17385	10	32	and	and	CCONJ
ajst-17385	10	33	place	place	VERB
ajst-17385	10	34	the	the	DET
ajst-17385	10	35	origin	origin	NOUN
ajst-17385	10	36	at	at	ADP
ajst-17385	10	37	the	the	DET
ajst-17385	10	38	center	center	NOUN
ajst-17385	10	39	of	of	ADP
ajst-17385	10	40	the	the	DET
ajst-17385	10	41	uav	uav	PROPN
ajst-17385	10	42	to	to	PART
ajst-17385	10	43	produce	produce	VERB
ajst-17385	10	44	the	the	DET
ajst-17385	10	45	above	above	ADJ
ajst-17385	10	46	figure	figure	NOUN
ajst-17385	10	47	.	.	PUNCT
ajst-17385	11	1	the	the	DET
ajst-17385	11	2	flight	flight	NOUN
ajst-17385	11	3	of	of	ADP
ajst-17385	11	4	the	the	DET
ajst-17385	11	5	uav	uav	PROPN
ajst-17385	11	6	provides	provide	VERB
ajst-17385	11	7	lift	lift	NOUN
ajst-17385	11	8	through	through	ADP
ajst-17385	11	9	four	four	NUM
ajst-17385	11	10	propellers	propeller	NOUN
ajst-17385	11	11	to	to	PART
ajst-17385	11	12	maintain	maintain	VERB
ajst-17385	11	13	a	a	DET
ajst-17385	11	14	safe	safe	ADJ
ajst-17385	11	15	altitude	altitude	NOUN
ajst-17385	11	16	while	while	SCONJ
ajst-17385	11	17	flying	fly	VERB
ajst-17385	11	18	,	,	PUNCT
ajst-17385	11	19	and	and	CCONJ
ajst-17385	11	20	different	different	ADJ
ajst-17385	11	21	motions	motion	NOUN
ajst-17385	11	22	are	be	AUX
ajst-17385	11	23	achieved	achieve	VERB
ajst-17385	11	24	through	through	ADP
ajst-17385	11	25	different	different	ADJ
ajst-17385	11	26	rotational	rotational	ADJ
ajst-17385	11	27	speeds	speed	NOUN
ajst-17385	11	28	of	of	ADP
ajst-17385	11	29	the	the	DET
ajst-17385	11	30	four	four	NUM
ajst-17385	11	31	propellers	propeller	NOUN
ajst-17385	11	32	.	.	PUNCT
ajst-17385	12	1	the	the	DET
ajst-17385	12	2	motion	motion	NOUN
ajst-17385	12	3	of	of	ADP
ajst-17385	12	4	the	the	DET
ajst-17385	12	5	uav	uav	PROPN
ajst-17385	12	6	is	be	AUX
ajst-17385	12	7	categorized	categorize	VERB
ajst-17385	12	8	into	into	ADP
ajst-17385	12	9	roll	roll	NOUN
ajst-17385	12	10	,	,	PUNCT
ajst-17385	12	11	pitch	pitch	NOUN
ajst-17385	12	12	and	and	CCONJ
ajst-17385	12	13	yaw	yaw	NOUN
ajst-17385	12	14	where	where	SCONJ
ajst-17385	12	15	the	the	DET
ajst-17385	12	16	roll	roll	NOUN
ajst-17385	12	17	rate	rate	NOUN
ajst-17385	12	18	is	be	AUX
ajst-17385	12	19	p	p	ADJ
ajst-17385	12	20	,	,	PUNCT
ajst-17385	12	21	roll	roll	NOUN
ajst-17385	12	22	angle	angle	NOUN
ajst-17385	12	23	is	be	AUX
ajst-17385	12	24	φ	φ	NUM
ajst-17385	12	25	,	,	PUNCT
ajst-17385	12	26	pitch	pitch	NOUN
ajst-17385	12	27	rate	rate	NOUN
ajst-17385	12	28	is	be	AUX
ajst-17385	12	29	q	q	ADJ
ajst-17385	12	30	,	,	PUNCT
ajst-17385	12	31	pitch	pitch	NOUN
ajst-17385	12	32	angle	angle	NOUN
ajst-17385	12	33	is	be	AUX
ajst-17385	12	34	θ	θ	NOUN
ajst-17385	12	35	,	,	PUNCT
ajst-17385	12	36	yaw	yaw	NOUN
ajst-17385	12	37	rate	rate	NOUN
ajst-17385	12	38	is	be	AUX
ajst-17385	12	39	r	r	NOUN
ajst-17385	12	40	,	,	PUNCT
ajst-17385	12	41	yaw	yaw	NOUN
ajst-17385	12	42	angle	angle	NOUN
ajst-17385	12	43	is	be	AUX
ajst-17385	12	44	ψ	ψ	NOUN
ajst-17385	12	45	.	.	PUNCT
ajst-17385	12	46	to	to	PART
ajst-17385	12	47	want	want	VERB
ajst-17385	12	48	the	the	DET
ajst-17385	12	49	uav	uav	PROPN
ajst-17385	12	50	to	to	PART
ajst-17385	12	51	hover	hover	VERB
ajst-17385	12	52	in	in	ADP
ajst-17385	12	53	the	the	DET
ajst-17385	12	54	air	air	NOUN
ajst-17385	12	55	it	it	PRON
ajst-17385	12	56	needs	need	VERB
ajst-17385	12	57	the	the	DET
ajst-17385	12	58	total	total	NOUN
ajst-17385	12	59	thrust	thrust	NOUN
ajst-17385	12	60	ft	ft	NOUN
ajst-17385	12	61	to	to	PART
ajst-17385	12	62	be	be	AUX
ajst-17385	12	63	all	all	DET
ajst-17385	12	64	the	the	DET
ajst-17385	12	65	way	way	NOUN
ajst-17385	12	66	with	with	ADP
ajst-17385	12	67	its	its	PRON
ajst-17385	12	68	own	own	ADJ
ajst-17385	12	69	gravity	gravity	NOUN
ajst-17385	12	70	and	and	CCONJ
ajst-17385	12	71	ft	ft	NOUN
ajst-17385	12	72	=	=	PROPN
ajst-17385	12	73	f1+f2+f3+f4	f1+f2+f3+f4	ADV
ajst-17385	12	74	.	.	PUNCT
ajst-17385	13	1	the	the	DET
ajst-17385	13	2	angular	angular	ADJ
ajst-17385	13	3	equation	equation	NOUN
ajst-17385	13	4	of	of	ADP
ajst-17385	13	5	motion	motion	NOUN
ajst-17385	13	6	of	of	ADP
ajst-17385	13	7	the	the	DET
ajst-17385	13	8	uav	uav	PROPN
ajst-17385	13	9	can	can	AUX
ajst-17385	13	10	be	be	AUX
ajst-17385	13	11	derived	derive	VERB
ajst-17385	13	12	when	when	SCONJ
ajst-17385	13	13	the	the	DET
ajst-17385	13	14	uav	uav	PROPN
ajst-17385	13	15	is	be	AUX
ajst-17385	13	16	unaffected	unaffected	ADJ
ajst-17385	13	17	by	by	ADP
ajst-17385	13	18	any	any	DET
ajst-17385	13	19	other	other	ADJ
ajst-17385	13	20	situation	situation	NOUN
ajst-17385	13	21	𝐼𝑥𝑝	𝐼𝑥𝑝	NOUN
ajst-17385	13	22	=	=	SYM
ajst-17385	13	23	(	(	PUNCT
ajst-17385	13	24	𝐼𝑦	𝐼𝑦	PROPN
ajst-17385	13	25	–	–	PUNCT
ajst-17385	13	26	𝐼𝑧	𝐼𝑧	PROPN
ajst-17385	13	27	)	)	PUNCT
ajst-17385	13	28	𝑞𝑟	𝑞𝑟	NOUN
ajst-17385	13	29	+	+	CCONJ
ajst-17385	13	30	𝜏𝑝	𝜏𝑝	X
ajst-17385	13	31	(	(	PUNCT
ajst-17385	13	32	1	1	NUM
ajst-17385	13	33	)	)	PUNCT
ajst-17385	13	34	𝐼𝑦𝑞=	𝐼𝑦𝑞=	PROPN
ajst-17385	13	35	(	(	PUNCT
ajst-17385	13	36	𝐼𝑧	𝐼𝑧	PROPN
ajst-17385	13	37	–	–	PUNCT
ajst-17385	13	38	𝐼𝑥	𝐼𝑥	PROPN
ajst-17385	13	39	)	)	PUNCT
ajst-17385	13	40	𝑝𝑟	𝑝𝑟	PROPN
ajst-17385	14	1	+	+	CCONJ
ajst-17385	14	2	𝜏𝑞	𝜏𝑞	X
ajst-17385	14	3	(	(	PUNCT
ajst-17385	14	4	2	2	NUM
ajst-17385	14	5	)	)	PUNCT
ajst-17385	14	6	𝐼𝑧𝑟	𝐼𝑧𝑟	NOUN
ajst-17385	14	7	=	=	PUNCT
ajst-17385	14	8	(	(	PUNCT
ajst-17385	14	9	𝐼𝑥	𝐼𝑥	PROPN
ajst-17385	14	10	–	–	PUNCT
ajst-17385	14	11	𝐼𝑦	𝐼𝑦	PROPN
ajst-17385	14	12	)	)	PUNCT
ajst-17385	14	13	𝑝𝑞	𝑝𝑞	NOUN
ajst-17385	14	14	+	+	CCONJ
ajst-17385	14	15	𝜏r	𝜏r	X
ajst-17385	14	16	(	(	PUNCT
ajst-17385	14	17	3	3	NUM
ajst-17385	14	18	)	)	PUNCT
ajst-17385	14	19	where	where	SCONJ
ajst-17385	14	20	𝜏	𝜏	NOUN
ajst-17385	14	21	is	be	AUX
ajst-17385	14	22	the	the	DET
ajst-17385	14	23	moment	moment	NOUN
ajst-17385	14	24	denoting	denote	VERB
ajst-17385	14	25	the	the	DET
ajst-17385	14	26	product	product	NOUN
ajst-17385	14	27	of	of	ADP
ajst-17385	14	28	the	the	DET
ajst-17385	14	29	force	force	NOUN
ajst-17385	14	30	arm	arm	NOUN
ajst-17385	14	31	and	and	CCONJ
ajst-17385	14	32	force	force	NOUN
ajst-17385	14	33	from	from	ADP
ajst-17385	14	34	the	the	DET
ajst-17385	14	35	starting	starting	NOUN
ajst-17385	14	36	point	point	NOUN
ajst-17385	14	37	of	of	ADP
ajst-17385	14	38	the	the	DET
ajst-17385	14	39	uav	uav	PROPN
ajst-17385	14	40	coordinates	coordinate	NOUN
ajst-17385	14	41	to	to	ADP
ajst-17385	14	42	the	the	DET
ajst-17385	14	43	propeller	propeller	NOUN
ajst-17385	14	44	,	,	PUNCT
ajst-17385	14	45	𝐼𝑥	𝐼𝑥	PROPN
ajst-17385	14	46	,	,	PUNCT
ajst-17385	14	47	𝐼𝑦	𝐼𝑦	PROPN
ajst-17385	14	48	,	,	PUNCT
ajst-17385	14	49	and	and	CCONJ
ajst-17385	14	50	𝐼𝑧	𝐼𝑧	PROPN
ajst-17385	14	51	is	be	AUX
ajst-17385	14	52	the	the	DET
ajst-17385	14	53	rotational	rotational	ADJ
ajst-17385	14	54	inertia	inertia	NOUN
ajst-17385	14	55	of	of	ADP
ajst-17385	14	56	the	the	DET
ajst-17385	14	57	uav	uav	PROPN
ajst-17385	14	58	in	in	ADP
ajst-17385	14	59	the	the	DET
ajst-17385	14	60	x	x	PROPN
ajst-17385	14	61	,	,	PUNCT
ajst-17385	14	62	y	y	PROPN
ajst-17385	14	63	,	,	PUNCT
ajst-17385	14	64	z	z	NOUN
ajst-17385	14	65	plane	plane	NOUN
ajst-17385	14	66	.	.	PUNCT
ajst-17385	15	1	this	this	PRON
ajst-17385	15	2	leads	lead	VERB
ajst-17385	15	3	to	to	ADP
ajst-17385	15	4	the	the	DET
ajst-17385	15	5	equations	equation	NOUN
ajst-17385	15	6	of	of	ADP
ajst-17385	15	7	motion	motion	NOUN
ajst-17385	15	8	of	of	ADP
ajst-17385	15	9	the	the	DET
ajst-17385	15	10	uav	uav	PROPN
ajst-17385	15	11	,	,	PUNCT
ajst-17385	15	12	which	which	PRON
ajst-17385	15	13	are	be	AUX
ajst-17385	15	14	modeled	model	VERB
ajst-17385	15	15	on	on	ADP
ajst-17385	15	16	the	the	DET
ajst-17385	15	17	pid	pid	NOUN
ajst-17385	15	18	based	base	VERB
ajst-17385	15	19	on	on	ADP
ajst-17385	15	20	the	the	DET
ajst-17385	15	21	physical	physical	ADJ
ajst-17385	15	22	equations	equation	NOUN
ajst-17385	15	23	.	.	PUNCT
ajst-17385	16	1	2	2	X
ajst-17385	16	2	.	.	X
ajst-17385	16	3	flight	flight	NOUN
ajst-17385	16	4	design	design	NOUN
ajst-17385	16	5	and	and	CCONJ
ajst-17385	16	6	pid	pid	NOUN
ajst-17385	16	7	control	control	NOUN
ajst-17385	16	8	[	[	X
ajst-17385	16	9	5	5	NUM
ajst-17385	16	10	]	]	PUNCT
ajst-17385	16	11	figure	figure	NOUN
ajst-17385	16	12	2	2	NUM
ajst-17385	16	13	.	.	PUNCT
ajst-17385	17	1	pid	pid	NOUN
ajst-17385	17	2	control	control	NOUN
ajst-17385	17	3	45	45	NUM
ajst-17385	17	4	there	there	PRON
ajst-17385	17	5	are	be	VERB
ajst-17385	17	6	many	many	ADJ
ajst-17385	17	7	ways	way	NOUN
ajst-17385	17	8	to	to	PART
ajst-17385	17	9	control	control	VERB
ajst-17385	17	10	the	the	DET
ajst-17385	17	11	flight	flight	NOUN
ajst-17385	17	12	of	of	ADP
ajst-17385	17	13	uav	uav	PROPN
ajst-17385	17	14	,	,	PUNCT
ajst-17385	17	15	it	it	PRON
ajst-17385	17	16	can	can	AUX
ajst-17385	17	17	be	be	AUX
ajst-17385	17	18	a	a	DET
ajst-17385	17	19	low	low	ADJ
ajst-17385	17	20	-	-	PUNCT
ajst-17385	17	21	cost	cost	NOUN
ajst-17385	17	22	way	way	NOUN
ajst-17385	17	23	to	to	PART
ajst-17385	17	24	realize	realize	VERB
ajst-17385	17	25	the	the	DET
ajst-17385	17	26	flight	flight	NOUN
ajst-17385	17	27	control	control	NOUN
ajst-17385	17	28	of	of	ADP
ajst-17385	17	29	quadcopter	quadcopter	PROPN
ajst-17385	17	30	uav	uav	PROPN
ajst-17385	17	31	hanging	hang	VERB
ajst-17385	17	32	load	load	NOUN
ajst-17385	17	33	system	system	NOUN
ajst-17385	17	34	by	by	ADP
ajst-17385	17	35	using	use	VERB
ajst-17385	17	36	on	on	ADP
ajst-17385	17	37	-	-	PUNCT
ajst-17385	17	38	board	board	NOUN
ajst-17385	17	39	sensors	sensor	NOUN
ajst-17385	17	40	and	and	CCONJ
ajst-17385	17	41	calculators	calculator	NOUN
ajst-17385	17	42	for	for	ADP
ajst-17385	17	43	the	the	DET
ajst-17385	17	44	purpose	purpose	NOUN
ajst-17385	17	45	of	of	ADP
ajst-17385	17	46	the	the	DET
ajst-17385	17	47	experimental	experimental	ADJ
ajst-17385	17	48	platform	platform	NOUN
ajst-17385	17	49	,	,	PUNCT
ajst-17385	17	50	especially	especially	ADV
ajst-17385	17	51	the	the	DET
ajst-17385	17	52	visual	visual	ADJ
ajst-17385	17	53	measurement	measurement	NOUN
ajst-17385	17	54	platform	platform	NOUN
ajst-17385	17	55	for	for	ADP
ajst-17385	17	56	observing	observe	VERB
ajst-17385	17	57	the	the	DET
ajst-17385	17	58	hanging	hanging	NOUN
ajst-17385	17	59	,	,	PUNCT
ajst-17385	17	60	as	as	ADV
ajst-17385	17	61	well	well	ADV
ajst-17385	17	62	as	as	ADP
ajst-17385	17	63	the	the	DET
ajst-17385	17	64	position	position	NOUN
ajst-17385	17	65	and	and	CCONJ
ajst-17385	17	66	suppression	suppression	NOUN
ajst-17385	17	67	of	of	ADP
ajst-17385	17	68	pendulum	pendulum	NOUN
ajst-17385	17	69	controllers	controller	NOUN
ajst-17385	17	70	,	,	PUNCT
ajst-17385	17	71	and	and	CCONJ
ajst-17385	17	72	the	the	DET
ajst-17385	17	73	feasibility	feasibility	NOUN
ajst-17385	17	74	of	of	ADP
ajst-17385	17	75	the	the	DET
ajst-17385	17	76	low	low	ADJ
ajst-17385	17	77	-	-	PUNCT
ajst-17385	17	78	cost	cost	NOUN
ajst-17385	17	79	flight	flight	NOUN
ajst-17385	17	80	system	system	NOUN
ajst-17385	17	81	is	be	AUX
ajst-17385	17	82	proved	prove	VERB
ajst-17385	17	83	through	through	ADP
ajst-17385	17	84	simulation	simulation	NOUN
ajst-17385	17	85	and	and	CCONJ
ajst-17385	17	86	flight	flight	NOUN
ajst-17385	17	87	experiments	experiment	NOUN
ajst-17385	17	88	.	.	PUNCT
ajst-17385	18	1	[	[	X
ajst-17385	18	2	1	1	X
ajst-17385	18	3	]	]	X
ajst-17385	18	4	the	the	DET
ajst-17385	18	5	second	second	ADJ
ajst-17385	18	6	one	one	NOUN
ajst-17385	18	7	can	can	AUX
ajst-17385	18	8	model	model	VERB
ajst-17385	18	9	the	the	DET
ajst-17385	18	10	dynamics	dynamic	NOUN
ajst-17385	18	11	of	of	ADP
ajst-17385	18	12	the	the	DET
ajst-17385	18	13	quadcopter	quadcopter	PROPN
ajst-17385	18	14	uav	uav	PROPN
ajst-17385	18	15	,	,	PUNCT
ajst-17385	18	16	based	base	VERB
ajst-17385	18	17	on	on	ADP
ajst-17385	18	18	which	which	PRON
ajst-17385	18	19	,	,	PUNCT
ajst-17385	18	20	a	a	DET
ajst-17385	18	21	suitable	suitable	ADJ
ajst-17385	18	22	reference	reference	NOUN
ajst-17385	18	23	coordinate	coordinate	NOUN
ajst-17385	18	24	system	system	NOUN
ajst-17385	18	25	is	be	AUX
ajst-17385	18	26	selected	select	VERB
ajst-17385	18	27	,	,	PUNCT
ajst-17385	18	28	the	the	DET
ajst-17385	18	29	coupling	coupling	NOUN
ajst-17385	18	30	relationship	relationship	NOUN
ajst-17385	18	31	between	between	ADP
ajst-17385	18	32	the	the	DET
ajst-17385	18	33	suspended	suspend	VERB
ajst-17385	18	34	weight	weight	NOUN
ajst-17385	18	35	and	and	CCONJ
ajst-17385	18	36	the	the	DET
ajst-17385	18	37	quadcopter	quadcopter	PROPN
ajst-17385	18	38	uav	uav	PROPN
ajst-17385	18	39	is	be	AUX
ajst-17385	18	40	analyzed	analyze	VERB
ajst-17385	18	41	,	,	PUNCT
ajst-17385	18	42	and	and	CCONJ
ajst-17385	18	43	finally	finally	ADV
ajst-17385	18	44	the	the	DET
ajst-17385	18	45	newton	newton	PROPN
ajst-17385	18	46	-	-	PUNCT
ajst-17385	18	47	eule	eule	PROPN
ajst-17385	18	48	method	method	NOUN
ajst-17385	18	49	is	be	AUX
ajst-17385	18	50	used	use	VERB
ajst-17385	18	51	to	to	PART
ajst-17385	18	52	obtain	obtain	VERB
ajst-17385	18	53	the	the	DET
ajst-17385	18	54	dynamic	dynamic	ADJ
ajst-17385	18	55	model	model	NOUN
ajst-17385	18	56	of	of	ADP
ajst-17385	18	57	the	the	DET
ajst-17385	18	58	variable	variable	NOUN
ajst-17385	18	59	-	-	PUNCT
ajst-17385	18	60	load	load	NOUN
ajst-17385	18	61	suspended	suspend	VERB
ajst-17385	18	62	rotor	rotor	NOUN
ajst-17385	18	63	uav	uav	PROPN
ajst-17385	18	64	.	.	PUNCT
ajst-17385	19	1	then	then	ADV
ajst-17385	19	2	,	,	PUNCT
ajst-17385	19	3	the	the	DET
ajst-17385	19	4	controller	controller	NOUN
ajst-17385	19	5	was	be	AUX
ajst-17385	19	6	designed	design	VERB
ajst-17385	19	7	by	by	ADP
ajst-17385	19	8	using	use	VERB
ajst-17385	19	9	the	the	DET
ajst-17385	19	10	feedback	feedback	NOUN
ajst-17385	19	11	linearization	linearization	NOUN
ajst-17385	19	12	control	control	NOUN
ajst-17385	19	13	method	method	NOUN
ajst-17385	19	14	for	for	ADP
ajst-17385	19	15	the	the	DET
ajst-17385	19	16	above	above	ADJ
ajst-17385	19	17	dynamics	dynamic	NOUN
ajst-17385	19	18	model	model	NOUN
ajst-17385	19	19	.	.	PUNCT
ajst-17385	20	1	the	the	DET
ajst-17385	20	2	position	position	NOUN
ajst-17385	20	3	tracking	track	VERB
ajst-17385	20	4	control	control	NOUN
ajst-17385	20	5	of	of	ADP
ajst-17385	20	6	the	the	DET
ajst-17385	20	7	variable	variable	NOUN
ajst-17385	20	8	-	-	PUNCT
ajst-17385	20	9	load	load	NOUN
ajst-17385	20	10	suspended	suspend	VERB
ajst-17385	20	11	rotor	rotor	NOUN
ajst-17385	20	12	uav	uav	PROPN
ajst-17385	20	13	is	be	AUX
ajst-17385	20	14	realized	realize	VERB
ajst-17385	20	15	by	by	ADP
ajst-17385	20	16	using	use	VERB
ajst-17385	20	17	the	the	DET
ajst-17385	20	18	outer	outer	ADJ
ajst-17385	20	19	-	-	PUNCT
ajst-17385	20	20	loop	loop	NOUN
ajst-17385	20	21	position	position	NOUN
ajst-17385	20	22	controller	controller	NOUN
ajst-17385	20	23	and	and	CCONJ
ajst-17385	20	24	inner	inner	ADJ
ajst-17385	20	25	-	-	PUNCT
ajst-17385	20	26	loop	loop	NOUN
ajst-17385	20	27	attitude	attitude	NOUN
ajst-17385	20	28	controller	controller	NOUN
ajst-17385	20	29	with	with	ADP
ajst-17385	20	30	the	the	DET
ajst-17385	20	31	position	position	NOUN
ajst-17385	20	32	and	and	CCONJ
ajst-17385	20	33	yaw	yaw	NOUN
ajst-17385	20	34	angle	angle	NOUN
ajst-17385	20	35	of	of	ADP
ajst-17385	20	36	the	the	DET
ajst-17385	20	37	uav	uav	PROPN
ajst-17385	20	38	specified	specify	VERB
ajst-17385	20	39	.	.	PUNCT
ajst-17385	21	1	[	[	X
ajst-17385	21	2	2	2	NUM
ajst-17385	21	3	]	]	PUNCT
ajst-17385	21	4	stability	stability	NOUN
ajst-17385	21	5	control	control	NOUN
ajst-17385	21	6	can	can	AUX
ajst-17385	21	7	also	also	ADV
ajst-17385	21	8	be	be	AUX
ajst-17385	21	9	performed	perform	VERB
ajst-17385	21	10	by	by	ADP
ajst-17385	21	11	the	the	DET
ajst-17385	21	12	derived	derive	VERB
ajst-17385	21	13	uav	uav	PROPN
ajst-17385	21	14	dynamics	dynamic	NOUN
ajst-17385	21	15	model	model	NOUN
ajst-17385	21	16	with	with	ADP
ajst-17385	21	17	robotic	robotic	ADJ
ajst-17385	21	18	arm	arm	NOUN
ajst-17385	21	19	using	use	VERB
ajst-17385	21	20	conventional	conventional	ADJ
ajst-17385	21	21	pid	pid	NOUN
ajst-17385	21	22	control	control	NOUN
ajst-17385	21	23	algorithm	algorithm	NOUN
ajst-17385	21	24	and	and	CCONJ
ajst-17385	21	25	expert	expert	NOUN
ajst-17385	21	26	pid	pid	NOUN
ajst-17385	21	27	control	control	NOUN
ajst-17385	21	28	algorithm	algorithm	NOUN
ajst-17385	21	29	respectively	respectively	ADV
ajst-17385	21	30	.	.	PUNCT
ajst-17385	22	1	the	the	DET
ajst-17385	22	2	model	model	NOUN
ajst-17385	22	3	is	be	AUX
ajst-17385	22	4	built	build	VERB
ajst-17385	22	5	in	in	ADP
ajst-17385	22	6	matlab	matlab	PROPN
ajst-17385	22	7	/	/	SYM
ajst-17385	22	8	simulink	simulink	PROPN
ajst-17385	22	9	and	and	CCONJ
ajst-17385	22	10	simulation	simulation	NOUN
ajst-17385	22	11	experiments	experiment	NOUN
ajst-17385	22	12	are	be	AUX
ajst-17385	22	13	conducted	conduct	VERB
ajst-17385	22	14	to	to	PART
ajst-17385	22	15	compare	compare	VERB
ajst-17385	22	16	the	the	DET
ajst-17385	22	17	superiority	superiority	NOUN
ajst-17385	22	18	and	and	CCONJ
ajst-17385	22	19	robustness	robustness	NOUN
ajst-17385	22	20	of	of	ADP
ajst-17385	22	21	the	the	DET
ajst-17385	22	22	two	two	NUM
ajst-17385	22	23	control	control	NOUN
ajst-17385	22	24	algorithms	algorithm	NOUN
ajst-17385	22	25	.	.	PUNCT
ajst-17385	23	1	[	[	X
ajst-17385	23	2	3	3	X
ajst-17385	23	3	]	]	PUNCT
ajst-17385	23	4	finally	finally	ADV
ajst-17385	23	5	,	,	PUNCT
ajst-17385	23	6	the	the	DET
ajst-17385	23	7	attitude	attitude	NOUN
ajst-17385	23	8	control	control	NOUN
ajst-17385	23	9	of	of	ADP
ajst-17385	23	10	uav	uav	PROPN
ajst-17385	23	11	carrying	carry	VERB
ajst-17385	23	12	different	different	ADJ
ajst-17385	23	13	loads	load	NOUN
ajst-17385	23	14	can	can	AUX
ajst-17385	23	15	also	also	ADV
ajst-17385	23	16	be	be	AUX
ajst-17385	23	17	studied	study	VERB
ajst-17385	23	18	,	,	PUNCT
ajst-17385	23	19	and	and	CCONJ
ajst-17385	23	20	the	the	DET
ajst-17385	23	21	main	main	ADJ
ajst-17385	23	22	research	research	NOUN
ajst-17385	23	23	contents	content	NOUN
ajst-17385	23	24	are	be	AUX
ajst-17385	23	25	as	as	SCONJ
ajst-17385	23	26	follows	follow	VERB
ajst-17385	23	27	:	:	PUNCT
ajst-17385	23	28	(	(	PUNCT
ajst-17385	23	29	1	1	X
ajst-17385	23	30	)	)	PUNCT
ajst-17385	23	31	establishment	establishment	NOUN
ajst-17385	23	32	of	of	ADP
ajst-17385	23	33	mathematical	mathematical	ADJ
ajst-17385	23	34	model	model	NOUN
ajst-17385	23	35	:	:	PUNCT
ajst-17385	23	36	to	to	PART
ajst-17385	23	37	study	study	VERB
ajst-17385	23	38	the	the	DET
ajst-17385	23	39	attitude	attitude	NOUN
ajst-17385	23	40	control	control	NOUN
ajst-17385	23	41	of	of	ADP
ajst-17385	23	42	uav	uav	PROPN
ajst-17385	23	43	,	,	PUNCT
ajst-17385	23	44	the	the	DET
ajst-17385	23	45	first	first	ADJ
ajst-17385	23	46	step	step	NOUN
ajst-17385	23	47	is	be	AUX
ajst-17385	23	48	to	to	PART
ajst-17385	23	49	establish	establish	VERB
ajst-17385	23	50	the	the	DET
ajst-17385	23	51	dynamics	dynamic	NOUN
ajst-17385	23	52	model	model	NOUN
ajst-17385	23	53	of	of	ADP
ajst-17385	23	54	uav	uav	PROPN
ajst-17385	23	55	,	,	PUNCT
ajst-17385	23	56	firstly	firstly	ADV
ajst-17385	23	57	,	,	PUNCT
ajst-17385	23	58	the	the	DET
ajst-17385	23	59	appropriate	appropriate	ADJ
ajst-17385	23	60	reference	reference	NOUN
ajst-17385	23	61	coordinate	coordinate	NOUN
ajst-17385	23	62	system	system	NOUN
ajst-17385	23	63	is	be	AUX
ajst-17385	23	64	selected	select	VERB
ajst-17385	23	65	and	and	CCONJ
ajst-17385	23	66	the	the	DET
ajst-17385	23	67	conversion	conversion	NOUN
ajst-17385	23	68	matrix	matrix	NOUN
ajst-17385	23	69	between	between	ADP
ajst-17385	23	70	each	each	DET
ajst-17385	23	71	coordinate	coordinate	NOUN
ajst-17385	23	72	system	system	NOUN
ajst-17385	23	73	is	be	AUX
ajst-17385	23	74	given	give	VERB
ajst-17385	23	75	,	,	PUNCT
ajst-17385	23	76	and	and	CCONJ
ajst-17385	23	77	then	then	ADV
ajst-17385	23	78	the	the	DET
ajst-17385	23	79	relevant	relevant	ADJ
ajst-17385	23	80	newtonian	newtonian	ADJ
ajst-17385	23	81	kinematics	kinematic	NOUN
ajst-17385	23	82	formulas	formula	NOUN
ajst-17385	23	83	are	be	AUX
ajst-17385	23	84	utilized	utilize	VERB
ajst-17385	23	85	to	to	PART
ajst-17385	23	86	establish	establish	VERB
ajst-17385	23	87	the	the	DET
ajst-17385	23	88	after	after	ADP
ajst-17385	23	89	that	that	PRON
ajst-17385	23	90	,	,	PUNCT
ajst-17385	23	91	the	the	DET
ajst-17385	23	92	dynamics	dynamic	NOUN
ajst-17385	23	93	and	and	CCONJ
ajst-17385	23	94	kinematics	kinematic	NOUN
ajst-17385	23	95	equations	equation	NOUN
ajst-17385	23	96	of	of	ADP
ajst-17385	23	97	the	the	DET
ajst-17385	23	98	multi	multi	ADJ
ajst-17385	23	99	-	-	ADJ
ajst-17385	23	100	rotor	rotor	ADJ
ajst-17385	23	101	uav	uav	PROPN
ajst-17385	23	102	are	be	AUX
ajst-17385	23	103	established	establish	VERB
ajst-17385	23	104	by	by	ADP
ajst-17385	23	105	using	use	VERB
ajst-17385	23	106	newton	newton	PROPN
ajst-17385	23	107	's	's	PART
ajst-17385	23	108	kinematics	kinematic	NOUN
ajst-17385	23	109	equations	equation	NOUN
ajst-17385	23	110	.	.	PUNCT
ajst-17385	24	1	finally	finally	ADV
ajst-17385	24	2	,	,	PUNCT
ajst-17385	24	3	taking	take	VERB
ajst-17385	24	4	into	into	ADP
ajst-17385	24	5	account	account	NOUN
ajst-17385	24	6	the	the	DET
ajst-17385	24	7	different	different	ADJ
ajst-17385	24	8	types	type	NOUN
ajst-17385	24	9	of	of	ADP
ajst-17385	24	10	loads	load	NOUN
ajst-17385	24	11	carried	carry	VERB
ajst-17385	24	12	by	by	ADP
ajst-17385	24	13	the	the	DET
ajst-17385	24	14	uav	uav	PROPN
ajst-17385	24	15	,	,	PUNCT
ajst-17385	24	16	the	the	DET
ajst-17385	24	17	dynamic	dynamic	ADJ
ajst-17385	24	18	equations	equation	NOUN
ajst-17385	24	19	of	of	ADP
ajst-17385	24	20	the	the	DET
ajst-17385	24	21	multi	multi	ADJ
ajst-17385	24	22	-	-	ADJ
ajst-17385	24	23	rotor	rotor	ADJ
ajst-17385	24	24	uav	uav	PROPN
ajst-17385	24	25	with	with	ADP
ajst-17385	24	26	different	different	ADJ
ajst-17385	24	27	loads	load	NOUN
ajst-17385	24	28	are	be	AUX
ajst-17385	24	29	derived	derive	VERB
ajst-17385	24	30	.	.	PUNCT
ajst-17385	25	1	(	(	PUNCT
ajst-17385	25	2	2	2	X
ajst-17385	25	3	)	)	PUNCT
ajst-17385	25	4	attitude	attitude	NOUN
ajst-17385	25	5	controller	controller	NOUN
ajst-17385	25	6	design	design	NOUN
ajst-17385	25	7	:	:	PUNCT
ajst-17385	25	8	this	this	DET
ajst-17385	25	9	paper	paper	NOUN
ajst-17385	25	10	designs	design	VERB
ajst-17385	25	11	two	two	NUM
ajst-17385	25	12	different	different	ADJ
ajst-17385	25	13	controllers	controller	NOUN
ajst-17385	25	14	for	for	ADP
ajst-17385	25	15	comparison	comparison	NOUN
ajst-17385	25	16	:	:	PUNCT
ajst-17385	25	17	firstly	firstly	ADV
ajst-17385	25	18	,	,	PUNCT
ajst-17385	25	19	it	it	PRON
ajst-17385	25	20	designs	design	VERB
ajst-17385	25	21	the	the	DET
ajst-17385	25	22	multi	multi	ADJ
ajst-17385	25	23	-	-	ADJ
ajst-17385	25	24	rotor	rotor	ADJ
ajst-17385	25	25	uav	uav	PROPN
ajst-17385	25	26	attitude	attitude	NOUN
ajst-17385	25	27	controller	controller	NOUN
ajst-17385	25	28	based	base	VERB
ajst-17385	25	29	on	on	ADP
ajst-17385	25	30	pid	pid	PROPN
ajst-17385	25	31	control	control	NOUN
ajst-17385	25	32	,	,	PUNCT
ajst-17385	25	33	considers	consider	VERB
ajst-17385	25	34	the	the	DET
ajst-17385	25	35	effects	effect	NOUN
ajst-17385	25	36	of	of	ADP
ajst-17385	25	37	different	different	ADJ
ajst-17385	25	38	loads	load	NOUN
ajst-17385	25	39	on	on	ADP
ajst-17385	25	40	the	the	DET
ajst-17385	25	41	attitude	attitude	NOUN
ajst-17385	25	42	of	of	ADP
ajst-17385	25	43	the	the	DET
ajst-17385	25	44	uav	uav	PROPN
ajst-17385	25	45	,	,	PUNCT
ajst-17385	25	46	and	and	CCONJ
ajst-17385	25	47	designs	design	VERB
ajst-17385	25	48	several	several	ADJ
ajst-17385	25	49	sets	set	NOUN
ajst-17385	25	50	of	of	ADP
ajst-17385	25	51	simulation	simulation	NOUN
ajst-17385	25	52	experiments	experiment	NOUN
ajst-17385	25	53	to	to	PART
ajst-17385	25	54	verify	verify	VERB
ajst-17385	25	55	the	the	DET
ajst-17385	25	56	effectiveness	effectiveness	NOUN
ajst-17385	25	57	of	of	ADP
ajst-17385	25	58	the	the	DET
ajst-17385	25	59	controller	controller	NOUN
ajst-17385	25	60	.	.	PUNCT
ajst-17385	26	1	[	[	X
ajst-17385	26	2	4	4	X
ajst-17385	26	3	]	]	PUNCT
ajst-17385	26	4	this	this	DET
ajst-17385	26	5	article	article	NOUN
ajst-17385	26	6	uses	use	VERB
ajst-17385	26	7	the	the	DET
ajst-17385	26	8	classical	classical	ADJ
ajst-17385	26	9	pid	pid	NOUN
ajst-17385	26	10	control	control	NOUN
ajst-17385	26	11	method	method	NOUN
ajst-17385	26	12	,	,	PUNCT
ajst-17385	26	13	which	which	PRON
ajst-17385	26	14	is	be	AUX
ajst-17385	26	15	a	a	DET
ajst-17385	26	16	common	common	ADJ
ajst-17385	26	17	control	control	NOUN
ajst-17385	26	18	method	method	NOUN
ajst-17385	26	19	in	in	ADP
ajst-17385	26	20	quadcopter	quadcopter	PROPN
ajst-17385	26	21	uavs	uavs	PROPN
ajst-17385	26	22	.	.	PUNCT
ajst-17385	27	1	it	it	PRON
ajst-17385	27	2	is	be	AUX
ajst-17385	27	3	a	a	DET
ajst-17385	27	4	control	control	NOUN
ajst-17385	27	5	system	system	NOUN
ajst-17385	27	6	that	that	PRON
ajst-17385	27	7	is	be	AUX
ajst-17385	27	8	controlled	control	VERB
ajst-17385	27	9	by	by	ADP
ajst-17385	27	10	the	the	DET
ajst-17385	27	11	proportionality	proportionality	NOUN
ajst-17385	27	12	,	,	PUNCT
ajst-17385	27	13	integration	integration	NOUN
ajst-17385	27	14	and	and	CCONJ
ajst-17385	27	15	differentiation	differentiation	NOUN
ajst-17385	27	16	of	of	ADP
ajst-17385	27	17	the	the	DET
ajst-17385	27	18	error	error	NOUN
ajst-17385	27	19	generated	generate	VERB
ajst-17385	27	20	by	by	ADP
ajst-17385	27	21	comparing	compare	VERB
ajst-17385	27	22	the	the	DET
ajst-17385	27	23	information	information	NOUN
ajst-17385	27	24	collected	collect	VERB
ajst-17385	27	25	from	from	ADP
ajst-17385	27	26	the	the	DET
ajst-17385	27	27	real	real	ADJ
ajst-17385	27	28	-	-	PUNCT
ajst-17385	27	29	time	time	NOUN
ajst-17385	27	30	data	datum	NOUN
ajst-17385	27	31	of	of	ADP
ajst-17385	27	32	the	the	DET
ajst-17385	27	33	controlled	control	VERB
ajst-17385	27	34	object	object	NOUN
ajst-17385	27	35	with	with	ADP
ajst-17385	27	36	the	the	DET
ajst-17385	27	37	given	give	VERB
ajst-17385	27	38	value	value	NOUN
ajst-17385	27	39	.	.	PUNCT
ajst-17385	28	1	it	it	PRON
ajst-17385	28	2	is	be	AUX
ajst-17385	28	3	used	use	VERB
ajst-17385	28	4	to	to	PART
ajst-17385	28	5	regulate	regulate	VERB
ajst-17385	28	6	the	the	DET
ajst-17385	28	7	attitude	attitude	NOUN
ajst-17385	28	8	(	(	PUNCT
ajst-17385	28	9	i.e.	i.e.	X
ajst-17385	28	10	,	,	PUNCT
ajst-17385	28	11	the	the	DET
ajst-17385	28	12	angle	angle	NOUN
ajst-17385	28	13	of	of	ADP
ajst-17385	28	14	the	the	DET
ajst-17385	28	15	vehicle	vehicle	NOUN
ajst-17385	28	16	)	)	PUNCT
ajst-17385	28	17	and	and	CCONJ
ajst-17385	28	18	the	the	DET
ajst-17385	28	19	altitude	altitude	NOUN
ajst-17385	28	20	of	of	ADP
ajst-17385	28	21	the	the	DET
ajst-17385	28	22	uav	uav	PROPN
ajst-17385	28	23	in	in	ADP
ajst-17385	28	24	order	order	NOUN
ajst-17385	28	25	to	to	PART
ajst-17385	28	26	achieve	achieve	VERB
ajst-17385	28	27	a	a	DET
ajst-17385	28	28	stable	stable	ADJ
ajst-17385	28	29	and	and	CCONJ
ajst-17385	28	30	smooth	smooth	ADJ
ajst-17385	28	31	flight	flight	NOUN
ajst-17385	28	32	.	.	PUNCT
ajst-17385	29	1	attitude	attitude	NOUN
ajst-17385	29	2	control	control	NOUN
ajst-17385	29	3	of	of	ADP
ajst-17385	29	4	a	a	DET
ajst-17385	29	5	quadcopter	quadcopter	PROPN
ajst-17385	29	6	uav	uav	PROPN
ajst-17385	29	7	typically	typically	ADV
ajst-17385	29	8	uses	use	VERB
ajst-17385	29	9	three	three	NUM
ajst-17385	29	10	pid	pid	NOUN
ajst-17385	29	11	controllers	controller	NOUN
ajst-17385	29	12	corresponding	correspond	VERB
ajst-17385	29	13	to	to	ADP
ajst-17385	29	14	pitch	pitch	NOUN
ajst-17385	29	15	,	,	PUNCT
ajst-17385	29	16	roll	roll	NOUN
ajst-17385	29	17	and	and	CCONJ
ajst-17385	29	18	yaw	yaw	NOUN
ajst-17385	29	19	angles	angle	NOUN
ajst-17385	29	20	.	.	PUNCT
ajst-17385	30	1	each	each	DET
ajst-17385	30	2	controller	controller	NOUN
ajst-17385	30	3	receives	receive	VERB
ajst-17385	30	4	the	the	DET
ajst-17385	30	5	error	error	NOUN
ajst-17385	30	6	signal	signal	NOUN
ajst-17385	30	7	between	between	ADP
ajst-17385	30	8	the	the	DET
ajst-17385	30	9	target	target	NOUN
ajst-17385	30	10	angle	angle	NOUN
ajst-17385	30	11	and	and	CCONJ
ajst-17385	30	12	the	the	DET
ajst-17385	30	13	actual	actual	ADJ
ajst-17385	30	14	angle	angle	NOUN
ajst-17385	30	15	and	and	CCONJ
ajst-17385	30	16	calculates	calculate	VERB
ajst-17385	30	17	the	the	DET
ajst-17385	30	18	controller	controller	NOUN
ajst-17385	30	19	outputs	output	NOUN
ajst-17385	30	20	to	to	PART
ajst-17385	30	21	adjust	adjust	VERB
ajst-17385	30	22	the	the	DET
ajst-17385	30	23	rotational	rotational	ADJ
ajst-17385	30	24	speeds	speed	NOUN
ajst-17385	30	25	of	of	ADP
ajst-17385	30	26	the	the	DET
ajst-17385	30	27	four	four	NUM
ajst-17385	30	28	motors	motor	NOUN
ajst-17385	30	29	to	to	PART
ajst-17385	30	30	control	control	VERB
ajst-17385	30	31	the	the	DET
ajst-17385	30	32	attitude	attitude	NOUN
ajst-17385	30	33	of	of	ADP
ajst-17385	30	34	the	the	DET
ajst-17385	30	35	vehicle	vehicle	NOUN
ajst-17385	30	36	.	.	PUNCT
ajst-17385	31	1	the	the	DET
ajst-17385	31	2	proportional	proportional	ADJ
ajst-17385	31	3	term	term	NOUN
ajst-17385	31	4	controls	control	VERB
ajst-17385	31	5	the	the	DET
ajst-17385	31	6	magnitude	magnitude	NOUN
ajst-17385	31	7	of	of	ADP
ajst-17385	31	8	the	the	DET
ajst-17385	31	9	error	error	NOUN
ajst-17385	31	10	signals	signal	NOUN
ajst-17385	31	11	,	,	PUNCT
ajst-17385	31	12	the	the	DET
ajst-17385	31	13	integral	integral	ADJ
ajst-17385	31	14	term	term	NOUN
ajst-17385	31	15	controls	control	VERB
ajst-17385	31	16	the	the	DET
ajst-17385	31	17	accumulation	accumulation	NOUN
ajst-17385	31	18	of	of	ADP
ajst-17385	31	19	the	the	DET
ajst-17385	31	20	error	error	NOUN
ajst-17385	31	21	signals	signal	NOUN
ajst-17385	31	22	,	,	PUNCT
ajst-17385	31	23	and	and	CCONJ
ajst-17385	31	24	the	the	DET
ajst-17385	31	25	differential	differential	ADJ
ajst-17385	31	26	term	term	NOUN
ajst-17385	31	27	controls	control	VERB
ajst-17385	31	28	the	the	DET
ajst-17385	31	29	rate	rate	NOUN
ajst-17385	31	30	of	of	ADP
ajst-17385	31	31	change	change	NOUN
ajst-17385	31	32	of	of	ADP
ajst-17385	31	33	the	the	DET
ajst-17385	31	34	error	error	NOUN
ajst-17385	31	35	signals	signal	NOUN
ajst-17385	31	36	.	.	PUNCT
ajst-17385	32	1	the	the	DET
ajst-17385	32	2	principle	principle	NOUN
ajst-17385	32	3	of	of	ADP
ajst-17385	32	4	pid	pid	NOUN
ajst-17385	32	5	control	control	NOUN
ajst-17385	32	6	is	be	AUX
ajst-17385	32	7	based	base	VERB
ajst-17385	32	8	on	on	ADP
ajst-17385	32	9	the	the	DET
ajst-17385	32	10	idea	idea	NOUN
ajst-17385	32	11	of	of	ADP
ajst-17385	32	12	feedback	feedback	NOUN
ajst-17385	32	13	control	control	NOUN
ajst-17385	32	14	,	,	PUNCT
ajst-17385	32	15	in	in	ADP
ajst-17385	32	16	which	which	PRON
ajst-17385	32	17	the	the	DET
ajst-17385	32	18	controller	controller	NOUN
ajst-17385	32	19	outputs	output	NOUN
ajst-17385	32	20	are	be	AUX
ajst-17385	32	21	continuously	continuously	ADV
ajst-17385	32	22	adjusted	adjust	VERB
ajst-17385	32	23	to	to	PART
ajst-17385	32	24	make	make	VERB
ajst-17385	32	25	the	the	DET
ajst-17385	32	26	attitude	attitude	NOUN
ajst-17385	32	27	or	or	CCONJ
ajst-17385	32	28	altitude	altitude	NOUN
ajst-17385	32	29	of	of	ADP
ajst-17385	32	30	the	the	DET
ajst-17385	32	31	vehicle	vehicle	NOUN
ajst-17385	32	32	as	as	ADV
ajst-17385	32	33	close	close	ADJ
ajst-17385	32	34	as	as	ADP
ajst-17385	32	35	possible	possible	ADJ
ajst-17385	32	36	to	to	ADP
ajst-17385	32	37	the	the	DET
ajst-17385	32	38	target	target	NOUN
ajst-17385	32	39	value	value	NOUN
ajst-17385	32	40	.	.	PUNCT
ajst-17385	33	1	the	the	DET
ajst-17385	33	2	basic	basic	ADJ
ajst-17385	33	3	idea	idea	NOUN
ajst-17385	33	4	is	be	AUX
ajst-17385	33	5	that	that	SCONJ
ajst-17385	33	6	at	at	ADP
ajst-17385	33	7	each	each	DET
ajst-17385	33	8	time	time	NOUN
ajst-17385	33	9	step	step	NOUN
ajst-17385	33	10	,	,	PUNCT
ajst-17385	33	11	the	the	DET
ajst-17385	33	12	error	error	NOUN
ajst-17385	33	13	signal	signal	NOUN
ajst-17385	33	14	is	be	AUX
ajst-17385	33	15	computed	compute	VERB
ajst-17385	33	16	and	and	CCONJ
ajst-17385	33	17	the	the	DET
ajst-17385	33	18	controller	controller	NOUN
ajst-17385	33	19	output	output	NOUN
ajst-17385	33	20	is	be	AUX
ajst-17385	33	21	calculated	calculate	VERB
ajst-17385	33	22	based	base	VERB
ajst-17385	33	23	on	on	ADP
ajst-17385	33	24	the	the	DET
ajst-17385	33	25	weights	weight	NOUN
ajst-17385	33	26	of	of	ADP
ajst-17385	33	27	the	the	DET
ajst-17385	33	28	proportional	proportional	ADJ
ajst-17385	33	29	,	,	PUNCT
ajst-17385	33	30	integral	integral	ADJ
ajst-17385	33	31	and	and	CCONJ
ajst-17385	33	32	differential	differential	ADJ
ajst-17385	33	33	terms	term	NOUN
ajst-17385	33	34	.	.	PUNCT
ajst-17385	34	1	these	these	DET
ajst-17385	34	2	weights	weight	NOUN
ajst-17385	34	3	usually	usually	ADV
ajst-17385	34	4	need	need	VERB
ajst-17385	34	5	to	to	PART
ajst-17385	34	6	be	be	AUX
ajst-17385	34	7	manually	manually	ADV
ajst-17385	34	8	adjusted	adjust	VERB
ajst-17385	34	9	in	in	ADP
ajst-17385	34	10	order	order	NOUN
ajst-17385	34	11	to	to	PART
ajst-17385	34	12	achieve	achieve	VERB
ajst-17385	34	13	optimal	optimal	ADJ
ajst-17385	34	14	control	control	NOUN
ajst-17385	34	15	in	in	ADP
ajst-17385	34	16	different	different	ADJ
ajst-17385	34	17	environments	environment	NOUN
ajst-17385	34	18	and	and	CCONJ
ajst-17385	34	19	application	application	NOUN
ajst-17385	34	20	scenarios	scenario	NOUN
ajst-17385	34	21	.	.	PUNCT
ajst-17385	35	1	all	all	PRON
ajst-17385	35	2	of	of	ADP
ajst-17385	35	3	the	the	DET
ajst-17385	35	4	above	above	ADJ
ajst-17385	35	5	studies	study	NOUN
ajst-17385	35	6	have	have	AUX
ajst-17385	35	7	done	do	VERB
ajst-17385	35	8	a	a	DET
ajst-17385	35	9	good	good	ADJ
ajst-17385	35	10	job	job	NOUN
ajst-17385	35	11	of	of	ADP
ajst-17385	35	12	demonstrating	demonstrate	VERB
ajst-17385	35	13	the	the	DET
ajst-17385	35	14	stability	stability	NOUN
ajst-17385	35	15	of	of	ADP
ajst-17385	35	16	the	the	DET
ajst-17385	35	17	uav	uav	PROPN
ajst-17385	35	18	while	while	SCONJ
ajst-17385	35	19	in	in	ADP
ajst-17385	35	20	flight	flight	NOUN
ajst-17385	35	21	,	,	PUNCT
ajst-17385	35	22	but	but	CCONJ
ajst-17385	35	23	it	it	PRON
ajst-17385	35	24	is	be	AUX
ajst-17385	35	25	not	not	PART
ajst-17385	35	26	possible	possible	ADJ
ajst-17385	35	27	to	to	PART
ajst-17385	35	28	visualize	visualize	VERB
ajst-17385	35	29	the	the	DET
ajst-17385	35	30	state	state	NOUN
ajst-17385	35	31	curves	curve	NOUN
ajst-17385	35	32	while	while	SCONJ
ajst-17385	35	33	in	in	ADP
ajst-17385	35	34	flight	flight	NOUN
ajst-17385	35	35	.	.	PUNCT
ajst-17385	36	1	to	to	PART
ajst-17385	36	2	show	show	VERB
ajst-17385	36	3	the	the	DET
ajst-17385	36	4	flight	flight	NOUN
ajst-17385	36	5	curve	curve	NOUN
ajst-17385	36	6	,	,	PUNCT
ajst-17385	36	7	we	we	PRON
ajst-17385	36	8	use	use	VERB
ajst-17385	36	9	the	the	DET
ajst-17385	36	10	uav	uav	PROPN
ajst-17385	36	11	power	power	PROPN
ajst-17385	36	12	model	model	NOUN
ajst-17385	36	13	with	with	ADP
ajst-17385	36	14	simulink	simulink	PROPN
ajst-17385	36	15	to	to	PART
ajst-17385	36	16	design	design	VERB
ajst-17385	36	17	the	the	DET
ajst-17385	36	18	flight	flight	NOUN
ajst-17385	36	19	model	model	NOUN
ajst-17385	36	20	of	of	ADP
ajst-17385	36	21	the	the	DET
ajst-17385	36	22	uav	uav	PROPN
ajst-17385	36	23	and	and	CCONJ
ajst-17385	36	24	simulate	simulate	VERB
ajst-17385	36	25	the	the	DET
ajst-17385	36	26	reality	reality	NOUN
ajst-17385	36	27	by	by	ADP
ajst-17385	36	28	changing	change	VERB
ajst-17385	36	29	the	the	DET
ajst-17385	36	30	function	function	NOUN
ajst-17385	36	31	and	and	CCONJ
ajst-17385	36	32	function	function	NOUN
ajst-17385	36	33	value	value	NOUN
ajst-17385	36	34	in	in	ADP
ajst-17385	36	35	the	the	DET
ajst-17385	36	36	model	model	NOUN
ajst-17385	36	37	.	.	PUNCT
ajst-17385	37	1	so	so	ADV
ajst-17385	37	2	change	change	VERB
ajst-17385	37	3	the	the	DET
ajst-17385	37	4	mass	mass	NOUN
ajst-17385	37	5	of	of	ADP
ajst-17385	37	6	the	the	DET
ajst-17385	37	7	uav	uav	PROPN
ajst-17385	37	8	in	in	ADP
ajst-17385	37	9	flight	flight	NOUN
ajst-17385	37	10	to	to	PART
ajst-17385	37	11	realize	realize	VERB
ajst-17385	37	12	the	the	DET
ajst-17385	37	13	variable	variable	ADJ
ajst-17385	37	14	load	load	NOUN
ajst-17385	37	15	of	of	ADP
ajst-17385	37	16	the	the	DET
ajst-17385	37	17	uav	uav	PROPN
ajst-17385	37	18	.	.	PUNCT
ajst-17385	38	1	in	in	ADP
ajst-17385	38	2	simulink	simulink	PROPN
ajst-17385	38	3	the	the	DET
ajst-17385	38	4	mass	mass	NOUN
ajst-17385	38	5	m	m	PROPN
ajst-17385	38	6	of	of	ADP
ajst-17385	38	7	the	the	DET
ajst-17385	38	8	uav	uav	PROPN
ajst-17385	38	9	is	be	AUX
ajst-17385	38	10	changed	change	VERB
ajst-17385	38	11	to	to	ADP
ajst-17385	38	12	a	a	DET
ajst-17385	38	13	matrix	matrix	NOUN
ajst-17385	38	14	so	so	SCONJ
ajst-17385	38	15	that	that	SCONJ
ajst-17385	38	16	the	the	DET
ajst-17385	38	17	mass	mass	NOUN
ajst-17385	38	18	of	of	ADP
ajst-17385	38	19	the	the	DET
ajst-17385	38	20	uav	uav	PROPN
ajst-17385	38	21	is	be	AUX
ajst-17385	38	22	changed	change	VERB
ajst-17385	38	23	to	to	PART
ajst-17385	38	24	achieve	achieve	VERB
ajst-17385	38	25	variable	variable	ADJ
ajst-17385	38	26	load	load	NOUN
ajst-17385	38	27	,	,	PUNCT
ajst-17385	38	28	due	due	ADP
ajst-17385	38	29	to	to	ADP
ajst-17385	38	30	the	the	DET
ajst-17385	38	31	change	change	NOUN
ajst-17385	38	32	in	in	ADP
ajst-17385	38	33	m	m	DET
ajst-17385	38	34	the	the	DET
ajst-17385	38	35	angular	angular	ADJ
ajst-17385	38	36	velocity	velocity	NOUN
ajst-17385	38	37	and	and	CCONJ
ajst-17385	38	38	the	the	DET
ajst-17385	38	39	angle	angle	NOUN
ajst-17385	38	40	of	of	ADP
ajst-17385	38	41	rotation	rotation	NOUN
ajst-17385	38	42	of	of	ADP
ajst-17385	38	43	the	the	DET
ajst-17385	38	44	uav	uav	PROPN
ajst-17385	38	45	at	at	ADP
ajst-17385	38	46	different	different	ADJ
ajst-17385	38	47	moments	moment	NOUN
ajst-17385	38	48	is	be	AUX
ajst-17385	38	49	also	also	ADV
ajst-17385	38	50	changed	change	VERB
ajst-17385	38	51	,	,	PUNCT
ajst-17385	38	52	so	so	CCONJ
ajst-17385	38	53	a	a	DET
ajst-17385	38	54	variable	variable	NOUN
ajst-17385	38	55	i	i	PRON
ajst-17385	38	56	is	be	AUX
ajst-17385	38	57	introduced	introduce	VERB
ajst-17385	38	58	with	with	ADP
ajst-17385	38	59	a	a	DET
ajst-17385	38	60	for	for	ADP
ajst-17385	38	61	loop	loop	NOUN
ajst-17385	38	62	to	to	PART
ajst-17385	38	63	reflect	reflect	VERB
ajst-17385	38	64	the	the	DET
ajst-17385	38	65	change	change	NOUN
ajst-17385	38	66	of	of	ADP
ajst-17385	38	67	two	two	NUM
ajst-17385	38	68	physical	physical	ADJ
ajst-17385	38	69	quantities	quantity	NOUN
ajst-17385	38	70	under	under	ADP
ajst-17385	38	71	the	the	DET
ajst-17385	38	72	change	change	NOUN
ajst-17385	38	73	of	of	ADP
ajst-17385	38	74	m.	m.	NOUN
ajst-17385	38	75	in	in	ADP
ajst-17385	38	76	real	real	ADJ
ajst-17385	38	77	life	life	NOUN
ajst-17385	38	78	,	,	PUNCT
ajst-17385	38	79	the	the	DET
ajst-17385	38	80	variable	variable	ADJ
ajst-17385	38	81	load	load	NOUN
ajst-17385	38	82	of	of	ADP
ajst-17385	38	83	the	the	DET
ajst-17385	38	84	vehicle	vehicle	NOUN
ajst-17385	38	85	can	can	AUX
ajst-17385	38	86	be	be	AUX
ajst-17385	38	87	roughly	roughly	ADV
ajst-17385	38	88	categorized	categorize	VERB
ajst-17385	38	89	into	into	ADP
ajst-17385	38	90	two	two	NUM
ajst-17385	38	91	cases	case	NOUN
ajst-17385	38	92	,	,	PUNCT
ajst-17385	38	93	which	which	PRON
ajst-17385	38	94	are	be	AUX
ajst-17385	38	95	persistent	persistent	ADJ
ajst-17385	38	96	variable	variable	ADJ
ajst-17385	38	97	load	load	NOUN
ajst-17385	38	98	and	and	CCONJ
ajst-17385	38	99	sudden	sudden	ADJ
ajst-17385	38	100	mass	mass	ADJ
ajst-17385	38	101	variable	variable	ADJ
ajst-17385	38	102	load	load	NOUN
ajst-17385	38	103	,	,	PUNCT
ajst-17385	38	104	and	and	CCONJ
ajst-17385	38	105	this	this	DET
ajst-17385	38	106	paper	paper	NOUN
ajst-17385	38	107	discuss	discuss	VERB
ajst-17385	38	108	these	these	DET
ajst-17385	38	109	two	two	NUM
ajst-17385	38	110	cases	case	NOUN
ajst-17385	38	111	separately	separately	ADV
ajst-17385	38	112	.	.	PUNCT
ajst-17385	39	1	(	(	PUNCT
ajst-17385	39	2	1	1	X
ajst-17385	39	3	)	)	PUNCT
ajst-17385	39	4	finding	find	VERB
ajst-17385	39	5	the	the	DET
ajst-17385	39	6	uav	uav	PROPN
ajst-17385	39	7	variable	variable	ADJ
ajst-17385	39	8	load	load	NOUN
ajst-17385	39	9	as	as	ADP
ajst-17385	39	10	a	a	DET
ajst-17385	39	11	function	function	NOUN
ajst-17385	39	12	of	of	ADP
ajst-17385	39	13	mass	mass	NOUN
ajst-17385	39	14	when	when	SCONJ
ajst-17385	39	15	changing	change	VERB
ajst-17385	39	16	the	the	DET
ajst-17385	39	17	uav	uav	PROPN
ajst-17385	39	18	mass	mass	PROPN
ajst-17385	39	19	continuously	continuously	ADV
ajst-17385	39	20	.	.	PUNCT
ajst-17385	40	1	in	in	ADP
ajst-17385	40	2	order	order	NOUN
ajst-17385	40	3	for	for	SCONJ
ajst-17385	40	4	the	the	DET
ajst-17385	40	5	uav	uav	PROPN
ajst-17385	40	6	to	to	PART
ajst-17385	40	7	reflect	reflect	VERB
ajst-17385	40	8	the	the	DET
ajst-17385	40	9	variable	variable	ADJ
ajst-17385	40	10	load	load	NOUN
ajst-17385	40	11	curve	curve	NOUN
ajst-17385	40	12	with	with	ADP
ajst-17385	40	13	continuity	continuity	NOUN
ajst-17385	40	14	within	within	ADP
ajst-17385	40	15	the	the	DET
ajst-17385	40	16	function	function	NOUN
ajst-17385	40	17	,	,	PUNCT
ajst-17385	40	18	the	the	DET
ajst-17385	40	19	matrix	matrix	NOUN
ajst-17385	40	20	of	of	ADP
ajst-17385	40	21	m	m	PROPN
ajst-17385	40	22	is	be	AUX
ajst-17385	40	23	introduced	introduce	VERB
ajst-17385	40	24	such	such	ADJ
ajst-17385	40	25	that	that	SCONJ
ajst-17385	40	26	the	the	DET
ajst-17385	40	27	initial	initial	ADJ
ajst-17385	40	28	value	value	NOUN
ajst-17385	40	29	is	be	AUX
ajst-17385	40	30	0.5	0.5	NUM
ajst-17385	40	31	kg	kg	NOUN
ajst-17385	40	32	,	,	PUNCT
ajst-17385	40	33	the	the	DET
ajst-17385	40	34	interval	interval	NOUN
ajst-17385	40	35	is	be	AUX
ajst-17385	40	36	0.01s	0.01s	PROPN
ajst-17385	40	37	,	,	PUNCT
ajst-17385	40	38	and	and	CCONJ
ajst-17385	40	39	the	the	DET
ajst-17385	40	40	final	final	ADJ
ajst-17385	40	41	value	value	NOUN
ajst-17385	40	42	is	be	AUX
ajst-17385	40	43	1.5	1.5	NUM
ajst-17385	40	44	kg	kg	NOUN
ajst-17385	40	45	,	,	PUNCT
ajst-17385	40	46	and	and	CCONJ
ajst-17385	40	47	these	these	DET
ajst-17385	40	48	data	datum	NOUN
ajst-17385	40	49	can	can	AUX
ajst-17385	40	50	be	be	AUX
ajst-17385	40	51	expressed	express	VERB
ajst-17385	40	52	as	as	ADP
ajst-17385	40	53	the	the	DET
ajst-17385	40	54	uav	uav	PROPN
ajst-17385	40	55	's	's	PART
ajst-17385	40	56	m	m	VERB
ajst-17385	40	57	under	under	ADP
ajst-17385	40	58	the	the	DET
ajst-17385	40	59	continuity	continuity	NOUN
ajst-17385	40	60	change	change	NOUN
ajst-17385	40	61	without	without	ADP
ajst-17385	40	62	(	(	PUNCT
ajst-17385	40	63	2	2	NUM
ajst-17385	40	64	)	)	PUNCT
ajst-17385	40	65	mass	mass	NOUN
ajst-17385	40	66	change	change	NOUN
ajst-17385	40	67	function	function	NOUN
ajst-17385	40	68	of	of	ADP
ajst-17385	40	69	the	the	DET
ajst-17385	40	70	uav	uav	PROPN
ajst-17385	40	71	in	in	ADP
ajst-17385	40	72	a	a	DET
ajst-17385	40	73	certain	certain	ADJ
ajst-17385	40	74	time	time	NOUN
ajst-17385	40	75	in	in	ADP
ajst-17385	40	76	the	the	DET
ajst-17385	40	77	case	case	NOUN
ajst-17385	40	78	of	of	ADP
ajst-17385	40	79	abrupt	abrupt	ADJ
ajst-17385	40	80	changes	change	NOUN
ajst-17385	40	81	after	after	ADP
ajst-17385	40	82	getting	get	VERB
ajst-17385	40	83	persistent	persistent	ADJ
ajst-17385	40	84	change	change	NOUN
ajst-17385	40	85	in	in	ADP
ajst-17385	40	86	the	the	DET
ajst-17385	40	87	state	state	NOUN
ajst-17385	40	88	of	of	ADP
ajst-17385	40	89	the	the	DET
ajst-17385	40	90	uav	uav	PROPN
ajst-17385	40	91	change	change	VERB
ajst-17385	40	92	the	the	DET
ajst-17385	40	93	value	value	NOUN
ajst-17385	40	94	of	of	ADP
ajst-17385	40	95	the	the	DET
ajst-17385	40	96	m	m	NOUN
ajst-17385	40	97	matrix	matrix	NOUN
ajst-17385	40	98	of	of	ADP
ajst-17385	40	99	the	the	DET
ajst-17385	40	100	uav	uav	PROPN
ajst-17385	40	101	,	,	PUNCT
ajst-17385	40	102	in	in	ADP
ajst-17385	40	103	the	the	DET
ajst-17385	40	104	case	case	NOUN
ajst-17385	40	105	of	of	ADP
ajst-17385	40	106	the	the	DET
ajst-17385	40	107	initial	initial	ADJ
ajst-17385	40	108	value	value	NOUN
ajst-17385	40	109	of	of	ADP
ajst-17385	40	110	0.5	0.5	NUM
ajst-17385	40	111	kg	kg	NOUN
ajst-17385	40	112	at	at	ADP
ajst-17385	40	113	an	an	DET
ajst-17385	40	114	interval	interval	NOUN
ajst-17385	40	115	of	of	ADP
ajst-17385	40	116	0.5	0.5	NUM
ajst-17385	40	117	s	s	PART
ajst-17385	40	118	final	final	ADJ
ajst-17385	40	119	value	value	NOUN
ajst-17385	40	120	of	of	ADP
ajst-17385	40	121	1.5	1.5	NUM
ajst-17385	40	122	kg	kg	NOUN
ajst-17385	40	123	,	,	PUNCT
ajst-17385	40	124	the	the	DET
ajst-17385	40	125	resulting	result	VERB
ajst-17385	40	126	data	datum	NOUN
ajst-17385	40	127	can	can	AUX
ajst-17385	40	128	be	be	AUX
ajst-17385	40	129	seen	see	VERB
ajst-17385	40	130	in	in	ADP
ajst-17385	40	131	the	the	DET
ajst-17385	40	132	state	state	NOUN
ajst-17385	40	133	of	of	ADP
ajst-17385	40	134	the	the	DET
ajst-17385	40	135	uav	uav	PROPN
ajst-17385	40	136	in	in	ADP
ajst-17385	40	137	the	the	DET
ajst-17385	40	138	case	case	NOUN
ajst-17385	40	139	of	of	ADP
ajst-17385	40	140	a	a	DET
ajst-17385	40	141	sudden	sudden	ADJ
ajst-17385	40	142	change	change	NOUN
ajst-17385	40	143	in	in	ADP
ajst-17385	40	144	its	its	PRON
ajst-17385	40	145	own	own	ADJ
ajst-17385	40	146	mass	mass	NOUN
ajst-17385	40	147	.	.	PUNCT
ajst-17385	41	1	3	3	X
ajst-17385	41	2	.	.	X
ajst-17385	41	3	simulation	simulation	NOUN
ajst-17385	41	4	results	result	VERB
ajst-17385	41	5	the	the	DET
ajst-17385	41	6	flight	flight	NOUN
ajst-17385	41	7	status	status	NOUN
ajst-17385	41	8	of	of	ADP
ajst-17385	41	9	the	the	DET
ajst-17385	41	10	quadrotor	quadrotor	PROPN
ajst-17385	41	11	uav	uav	PROPN
ajst-17385	41	12	with	with	ADP
ajst-17385	41	13	variable	variable	ADJ
ajst-17385	41	14	load	load	NOUN
ajst-17385	41	15	is	be	AUX
ajst-17385	41	16	shown	show	VERB
ajst-17385	41	17	in	in	ADP
ajst-17385	41	18	fig	fig	NOUN
ajst-17385	41	19	3and	3and	NUM
ajst-17385	41	20	fig	fig	NOUN
ajst-17385	41	21	4	4	NUM
ajst-17385	41	22	.	.	PUNCT
ajst-17385	42	1	figure	figure	NOUN
ajst-17385	42	2	three	three	NUM
ajst-17385	42	3	is	be	AUX
ajst-17385	42	4	the	the	DET
ajst-17385	42	5	flight	flight	NOUN
ajst-17385	42	6	state	state	NOUN
ajst-17385	42	7	of	of	ADP
ajst-17385	42	8	the	the	DET
ajst-17385	42	9	uav	uav	PROPN
ajst-17385	42	10	in	in	ADP
ajst-17385	42	11	the	the	DET
ajst-17385	42	12	case	case	NOUN
ajst-17385	42	13	of	of	ADP
ajst-17385	42	14	continuous	continuous	ADJ
ajst-17385	42	15	variable	variable	ADJ
ajst-17385	42	16	load	load	NOUN
ajst-17385	42	17	,	,	PUNCT
ajst-17385	43	1	in	in	ADP
ajst-17385	43	2	every	every	DET
ajst-17385	43	3	0.01s	0.01s	PROPN
ajst-17385	43	4	the	the	DET
ajst-17385	43	5	mass	mass	NOUN
ajst-17385	43	6	change	change	NOUN
ajst-17385	43	7	can	can	AUX
ajst-17385	43	8	be	be	AUX
ajst-17385	43	9	seen	see	VERB
ajst-17385	43	10	that	that	SCONJ
ajst-17385	43	11	the	the	DET
ajst-17385	43	12	uav	uav	PROPN
ajst-17385	43	13	fluctuation	fluctuation	NOUN
ajst-17385	43	14	but	but	CCONJ
ajst-17385	43	15	every	every	DET
ajst-17385	43	16	moment	moment	NOUN
ajst-17385	43	17	through	through	ADP
ajst-17385	43	18	the	the	DET
ajst-17385	43	19	adjustment	adjustment	NOUN
ajst-17385	43	20	makes	make	VERB
ajst-17385	43	21	the	the	DET
ajst-17385	43	22	uav	uav	PROPN
ajst-17385	43	23	in	in	ADP
ajst-17385	43	24	all	all	DET
ajst-17385	43	25	aspects	aspect	NOUN
ajst-17385	43	26	of	of	ADP
ajst-17385	43	27	the	the	DET
ajst-17385	43	28	flight	flight	NOUN
ajst-17385	43	29	is	be	AUX
ajst-17385	43	30	smooth	smooth	ADJ
ajst-17385	43	31	,	,	PUNCT
ajst-17385	43	32	there	there	PRON
ajst-17385	43	33	is	be	VERB
ajst-17385	43	34	no	no	DET
ajst-17385	43	35	loss	loss	NOUN
ajst-17385	43	36	of	of	ADP
ajst-17385	43	37	control	control	NOUN
ajst-17385	43	38	,	,	PUNCT
ajst-17385	43	39	can	can	AUX
ajst-17385	43	40	be	be	AUX
ajst-17385	43	41	very	very	ADV
ajst-17385	43	42	good	good	ADJ
ajst-17385	43	43	to	to	PART
ajst-17385	43	44	continue	continue	VERB
ajst-17385	43	45	to	to	PART
ajst-17385	43	46	fly	fly	VERB
ajst-17385	43	47	.	.	PUNCT
ajst-17385	44	1	figure	figure	VERB
ajst-17385	44	2	4	4	NUM
ajst-17385	44	3	shows	show	VERB
ajst-17385	44	4	the	the	DET
ajst-17385	44	5	flight	flight	NOUN
ajst-17385	44	6	status	status	NOUN
ajst-17385	44	7	of	of	ADP
ajst-17385	44	8	the	the	DET
ajst-17385	44	9	uav	uav	PROPN
ajst-17385	44	10	in	in	ADP
ajst-17385	44	11	the	the	DET
ajst-17385	44	12	case	case	NOUN
ajst-17385	44	13	of	of	ADP
ajst-17385	44	14	sudden	sudden	ADJ
ajst-17385	44	15	change	change	NOUN
ajst-17385	44	16	of	of	ADP
ajst-17385	44	17	load	load	NOUN
ajst-17385	44	18	,	,	PUNCT
ajst-17385	44	19	in	in	ADP
ajst-17385	44	20	the	the	DET
ajst-17385	44	21	case	case	NOUN
ajst-17385	44	22	of	of	ADP
ajst-17385	44	23	the	the	DET
ajst-17385	44	24	change	change	NOUN
ajst-17385	44	25	of	of	ADP
ajst-17385	44	26	mass	mass	NOUN
ajst-17385	44	27	every	every	DET
ajst-17385	44	28	0.5	0.5	NUM
ajst-17385	44	29	seconds	second	NOUN
ajst-17385	44	30	,	,	PUNCT
ajst-17385	44	31	it	it	PRON
ajst-17385	44	32	can	can	AUX
ajst-17385	44	33	be	be	AUX
ajst-17385	44	34	seen	see	VERB
ajst-17385	44	35	that	that	SCONJ
ajst-17385	44	36	the	the	DET
ajst-17385	44	37	flight	flight	NOUN
ajst-17385	44	38	status	status	NOUN
ajst-17385	44	39	of	of	ADP
ajst-17385	44	40	the	the	DET
ajst-17385	44	41	uav	uav	PROPN
ajst-17385	44	42	fluctuates	fluctuate	VERB
ajst-17385	44	43	greatly	greatly	ADV
ajst-17385	44	44	,	,	PUNCT
ajst-17385	44	45	but	but	CCONJ
ajst-17385	44	46	then	then	ADV
ajst-17385	44	47	the	the	DET
ajst-17385	44	48	uav	uav	PROPN
ajst-17385	44	49	can	can	AUX
ajst-17385	44	50	quickly	quickly	ADV
ajst-17385	44	51	return	return	VERB
ajst-17385	44	52	to	to	ADP
ajst-17385	44	53	a	a	DET
ajst-17385	44	54	smooth	smooth	ADJ
ajst-17385	44	55	flight	flight	NOUN
ajst-17385	44	56	.	.	PUNCT
ajst-17385	45	1	through	through	ADP
ajst-17385	45	2	experiments	experiment	NOUN
ajst-17385	45	3	using	use	VERB
ajst-17385	45	4	uav	uav	PROPN
ajst-17385	45	5	flight	flight	NOUN
ajst-17385	45	6	models	model	NOUN
ajst-17385	45	7	it	it	PRON
ajst-17385	45	8	can	can	AUX
ajst-17385	45	9	be	be	AUX
ajst-17385	45	10	found	find	VERB
ajst-17385	45	11	that	that	SCONJ
ajst-17385	45	12	,	,	PUNCT
ajst-17385	45	13	the	the	DET
ajst-17385	45	14	uav	uav	PROPN
ajst-17385	45	15	can	can	AUX
ajst-17385	45	16	quickly	quickly	ADV
ajst-17385	45	17	adjust	adjust	VERB
ajst-17385	45	18	the	the	DET
ajst-17385	45	19	flight	flight	NOUN
ajst-17385	45	20	state	state	NOUN
ajst-17385	45	21	,	,	PUNCT
ajst-17385	45	22	so	so	SCONJ
ajst-17385	45	23	that	that	SCONJ
ajst-17385	45	24	it	it	PRON
ajst-17385	45	25	has	have	AUX
ajst-17385	45	26	been	be	AUX
ajst-17385	45	27	flying	fly	VERB
ajst-17385	45	28	smoothly	smoothly	ADV
ajst-17385	45	29	without	without	ADP
ajst-17385	45	30	losing	lose	VERB
ajst-17385	45	31	control	control	NOUN
ajst-17385	45	32	,	,	PUNCT
ajst-17385	45	33	which	which	PRON
ajst-17385	45	34	also	also	ADV
ajst-17385	45	35	proves	prove	VERB
ajst-17385	45	36	that	that	SCONJ
ajst-17385	45	37	the	the	DET
ajst-17385	45	38	model	model	NOUN
ajst-17385	45	39	can	can	AUX
ajst-17385	45	40	be	be	AUX
ajst-17385	45	41	visualized	visualize	VERB
ajst-17385	45	42	to	to	PART
ajst-17385	45	43	observe	observe	VERB
ajst-17385	45	44	that	that	SCONJ
ajst-17385	45	45	the	the	DET
ajst-17385	45	46	uav	uav	PROPN
ajst-17385	45	47	will	will	AUX
ajst-17385	45	48	not	not	PART
ajst-17385	45	49	affect	affect	VERB
ajst-17385	45	50	the	the	DET
ajst-17385	45	51	stability	stability	NOUN
ajst-17385	45	52	of	of	ADP
ajst-17385	45	53	the	the	DET
ajst-17385	45	54	uav	uav	PROPN
ajst-17385	45	55	's	's	PART
ajst-17385	45	56	flight	flight	NOUN
ajst-17385	45	57	because	because	SCONJ
ajst-17385	45	58	of	of	ADP
ajst-17385	45	59	the	the	DET
ajst-17385	45	60	changes	change	NOUN
ajst-17385	45	61	in	in	ADP
ajst-17385	45	62	its	its	PRON
ajst-17385	45	63	own	own	ADJ
ajst-17385	45	64	mass	mass	NOUN
ajst-17385	45	65	when	when	SCONJ
ajst-17385	45	66	it	it	PRON
ajst-17385	45	67	changes	change	VERB
ajst-17385	45	68	loads	load	NOUN
ajst-17385	45	69	.	.	PUNCT
ajst-17385	46	1	46	46	NUM
ajst-17385	46	2	figure	figure	NOUN
ajst-17385	46	3	3	3	NUM
ajst-17385	46	4	.	.	PUNCT
ajst-17385	47	1	continuous	continuous	ADJ
ajst-17385	47	2	variable	variable	ADJ
ajst-17385	47	3	load	load	NOUN
ajst-17385	47	4	figure	figure	NOUN
ajst-17385	47	5	4	4	NUM
ajst-17385	47	6	.	.	PUNCT
ajst-17385	47	7	shows	show	VERB
ajst-17385	47	8	the	the	DET
ajst-17385	47	9	mutation	mutation	NOUN
ajst-17385	47	10	load	load	NOUN
ajst-17385	47	11	4	4	NUM
ajst-17385	47	12	.	.	PUNCT
ajst-17385	48	1	conclusion	conclusion	NOUN
ajst-17385	48	2	this	this	DET
ajst-17385	48	3	paper	paper	NOUN
ajst-17385	48	4	establishes	establish	VERB
ajst-17385	48	5	an	an	DET
ajst-17385	48	6	approach	approach	NOUN
ajst-17385	48	7	for	for	ADP
ajst-17385	48	8	uav	uav	PROPN
ajst-17385	48	9	flight	flight	PROPN
ajst-17385	48	10	state	state	NOUN
ajst-17385	48	11	detection	detection	NOUN
ajst-17385	48	12	with	with	ADP
ajst-17385	48	13	variable	variable	ADJ
ajst-17385	48	14	load	load	NOUN
ajst-17385	48	15	.	.	PUNCT
ajst-17385	49	1	the	the	DET
ajst-17385	49	2	power	power	NOUN
ajst-17385	49	3	model	model	NOUN
ajst-17385	49	4	of	of	ADP
ajst-17385	49	5	uav	uav	PROPN
ajst-17385	49	6	flight	flight	NOUN
ajst-17385	49	7	is	be	AUX
ajst-17385	49	8	established	establish	VERB
ajst-17385	49	9	through	through	ADP
ajst-17385	49	10	matlab	matlab	PROPN
ajst-17385	49	11	/	/	SYM
ajst-17385	49	12	simulink	simulink	PROPN
ajst-17385	49	13	,	,	PUNCT
ajst-17385	49	14	and	and	CCONJ
ajst-17385	49	15	the	the	DET
ajst-17385	49	16	flight	flight	NOUN
ajst-17385	49	17	curves	curve	NOUN
ajst-17385	49	18	of	of	ADP
ajst-17385	49	19	two	two	NUM
ajst-17385	49	20	variable	variable	ADJ
ajst-17385	49	21	loads	load	NOUN
ajst-17385	49	22	are	be	AUX
ajst-17385	49	23	demonstrated	demonstrate	VERB
ajst-17385	49	24	through	through	ADP
ajst-17385	49	25	the	the	DET
ajst-17385	49	26	design	design	NOUN
ajst-17385	49	27	,	,	PUNCT
ajst-17385	49	28	and	and	CCONJ
ajst-17385	49	29	the	the	DET
ajst-17385	49	30	curves	curve	NOUN
ajst-17385	49	31	can	can	AUX
ajst-17385	49	32	intuitively	intuitively	ADV
ajst-17385	49	33	detect	detect	VERB
ajst-17385	49	34	the	the	DET
ajst-17385	49	35	state	state	NOUN
ajst-17385	49	36	of	of	ADP
ajst-17385	49	37	the	the	DET
ajst-17385	49	38	uav	uav	PROPN
ajst-17385	49	39	,	,	PUNCT
ajst-17385	49	40	and	and	CCONJ
ajst-17385	49	41	detect	detect	VERB
ajst-17385	49	42	the	the	DET
ajst-17385	49	43	stability	stability	NOUN
ajst-17385	49	44	of	of	ADP
ajst-17385	49	45	the	the	DET
ajst-17385	49	46	uav	uav	PROPN
ajst-17385	49	47	's	's	PART
ajst-17385	49	48	fuselage	fuselage	NOUN
ajst-17385	49	49	in	in	ADP
ajst-17385	49	50	the	the	DET
ajst-17385	49	51	case	case	NOUN
ajst-17385	49	52	of	of	ADP
ajst-17385	49	53	variable	variable	ADJ
ajst-17385	49	54	load	load	NOUN
ajst-17385	49	55	,	,	PUNCT
ajst-17385	49	56	which	which	PRON
ajst-17385	49	57	provides	provide	VERB
ajst-17385	49	58	evidence	evidence	NOUN
ajst-17385	49	59	for	for	ADP
ajst-17385	49	60	the	the	DET
ajst-17385	49	61	stability	stability	NOUN
ajst-17385	49	62	of	of	ADP
ajst-17385	49	63	the	the	DET
ajst-17385	49	64	uav	uav	PROPN
ajst-17385	49	65	.	.	PUNCT
ajst-17385	50	1	it	it	PRON
ajst-17385	50	2	makes	make	VERB
ajst-17385	50	3	the	the	DET
ajst-17385	50	4	variable	variable	ADJ
ajst-17385	50	5	load	load	VERB
ajst-17385	50	6	flight	flight	NOUN
ajst-17385	50	7	of	of	ADP
ajst-17385	50	8	the	the	DET
ajst-17385	50	9	quadrotor	quadrotor	PROPN
ajst-17385	50	10	uav	uav	PROPN
ajst-17385	50	11	more	more	ADV
ajst-17385	50	12	intuitive	intuitive	ADJ
ajst-17385	50	13	,	,	PUNCT
ajst-17385	50	14	which	which	PRON
ajst-17385	50	15	provides	provide	VERB
ajst-17385	50	16	convenience	convenience	NOUN
ajst-17385	50	17	for	for	ADP
ajst-17385	50	18	the	the	DET
ajst-17385	50	19	subsequent	subsequent	ADJ
ajst-17385	50	20	research	research	NOUN
ajst-17385	50	21	on	on	ADP
ajst-17385	50	22	the	the	DET
ajst-17385	50	23	variable	variable	ADJ
ajst-17385	50	24	load	load	NOUN
ajst-17385	50	25	of	of	ADP
ajst-17385	50	26	the	the	DET
ajst-17385	50	27	quadrotor	quadrotor	PROPN
ajst-17385	50	28	uav	uav	PROPN
ajst-17385	50	29	.	.	PUNCT
ajst-17385	51	1	references	reference	NOUN
ajst-17385	52	1	[	[	X
ajst-17385	52	2	1	1	X
ajst-17385	52	3	]	]	PUNCT
ajst-17385	53	1	huang	huang	PROPN
ajst-17385	53	2	z.h	z.h	PROPN
ajst-17385	53	3	.	.	PROPN
ajst-17385	53	4	(	(	PUNCT
ajst-17385	53	5	2022	2022	NUM
ajst-17385	53	6	)	)	PUNCT
ajst-17385	53	7	.	.	PUNCT
ajst-17385	54	1	flight	flight	NOUN
ajst-17385	54	2	control	control	NOUN
ajst-17385	54	3	and	and	CCONJ
ajst-17385	54	4	realization	realization	NOUN
ajst-17385	54	5	of	of	ADP
ajst-17385	54	6	quadrotor	quadrotor	PROPN
ajst-17385	54	7	uav	uav	PROPN
ajst-17385	54	8	with	with	ADP
ajst-17385	54	9	suspended	suspend	VERB
ajst-17385	54	10	load	load	NOUN
ajst-17385	54	11	.	.	PUNCT
ajst-17385	55	1	engineering	engineering	NOUN
ajst-17385	55	2	science	science	NOUN
ajst-17385	55	3	and	and	CCONJ
ajst-17385	55	4	technology	technology	NOUN
ajst-17385	55	5	ⅱ	ⅱ	PROPN
ajst-17385	55	6	series	series	NOUN
ajst-17385	55	7	1	1	NUM
ajst-17385	55	8	-	-	SYM
ajst-17385	55	9	2	2	NUM
ajst-17385	55	10	[	[	X
ajst-17385	55	11	2	2	NUM
ajst-17385	55	12	]	]	X
ajst-17385	55	13	wu	wu	PROPN
ajst-17385	55	14	y.z	y.z	PROPN
ajst-17385	55	15	.	.	PROPN
ajst-17385	55	16	(	(	PUNCT
ajst-17385	55	17	2021	2021	NUM
ajst-17385	55	18	)	)	PUNCT
ajst-17385	55	19	research	research	NOUN
ajst-17385	55	20	on	on	ADP
ajst-17385	55	21	adaptive	adaptive	ADJ
ajst-17385	55	22	fuzzy	fuzzy	ADJ
ajst-17385	55	23	self	self	NOUN
ajst-17385	55	24	-	-	PUNCT
ajst-17385	55	25	immunity	immunity	NOUN
ajst-17385	55	26	control	control	NOUN
ajst-17385	55	27	of	of	ADP
ajst-17385	55	28	variable	variable	ADJ
ajst-17385	55	29	load	load	NOUN
ajst-17385	55	30	uav	uav	PROPN
ajst-17385	55	31	.	.	PUNCT
ajst-17385	56	1	engineering	engineering	NOUN
ajst-17385	56	2	science	science	NOUN
ajst-17385	56	3	and	and	CCONJ
ajst-17385	56	4	technology	technology	NOUN
ajst-17385	56	5	ⅱ	ⅱ	PROPN
ajst-17385	56	6	series	series	NOUN
ajst-17385	56	7	1	1	NUM
ajst-17385	56	8	-	-	SYM
ajst-17385	56	9	2	2	NUM
ajst-17385	56	10	[	[	X
ajst-17385	56	11	3	3	NUM
ajst-17385	56	12	]	]	X
ajst-17385	56	13	chen	chen	PROPN
ajst-17385	56	14	b.	b.	PROPN
ajst-17385	56	15	(	(	PUNCT
ajst-17385	56	16	2022	2022	NUM
ajst-17385	56	17	)	)	PUNCT
ajst-17385	56	18	research	research	NOUN
ajst-17385	56	19	on	on	ADP
ajst-17385	56	20	modeling	modeling	NOUN
ajst-17385	56	21	and	and	CCONJ
ajst-17385	56	22	cooperative	cooperative	ADJ
ajst-17385	56	23	control	control	NOUN
ajst-17385	56	24	method	method	NOUN
ajst-17385	56	25	of	of	ADP
ajst-17385	56	26	quadrotor	quadrotor	NOUN
ajst-17385	56	27	unmanned	unmanned	ADJ
ajst-17385	56	28	aircraft	aircraft	NOUN
ajst-17385	56	29	system	system	NOUN
ajst-17385	56	30	with	with	ADP
ajst-17385	56	31	robotic	robotic	ADJ
ajst-17385	56	32	arm	arm	NOUN
ajst-17385	56	33	.	.	PUNCT
ajst-17385	57	1	engineering	engineering	NOUN
ajst-17385	57	2	science	science	NOUN
ajst-17385	57	3	and	and	CCONJ
ajst-17385	57	4	technology	technology	NOUN
ajst-17385	57	5	ⅱ	ⅱ	PROPN
ajst-17385	57	6	series	series	NOUN
ajst-17385	57	7	.	.	PUNCT
ajst-17385	58	1	1	1	NUM
ajst-17385	59	1	[	[	SYM
ajst-17385	59	2	4	4	NUM
ajst-17385	59	3	]	]	X
ajst-17385	59	4	guo	guo	PROPN
ajst-17385	59	5	sj	sj	PROPN
ajst-17385	59	6	.	.	PUNCT
ajst-17385	59	7	(	(	PUNCT
ajst-17385	59	8	2018	2018	NUM
ajst-17385	59	9	)	)	PUNCT
ajst-17385	59	10	attitude	attitude	NOUN
ajst-17385	59	11	stabilization	stabilization	NOUN
ajst-17385	59	12	control	control	NOUN
ajst-17385	59	13	of	of	ADP
ajst-17385	59	14	multi	multi	ADJ
ajst-17385	59	15	-	-	ADJ
ajst-17385	59	16	rotor	rotor	ADJ
ajst-17385	59	17	uav	uav	PROPN
ajst-17385	59	18	with	with	ADP
ajst-17385	59	19	variable	variable	ADJ
ajst-17385	59	20	loads	load	NOUN
ajst-17385	59	21	.	.	PUNCT
ajst-17385	60	1	engineering	engineering	NOUN
ajst-17385	60	2	science	science	NOUN
ajst-17385	60	3	and	and	CCONJ
ajst-17385	60	4	technology	technology	NOUN
ajst-17385	60	5	ⅱ	ⅱ	PROPN
ajst-17385	60	6	series	series	NOUN
ajst-17385	60	7	.	.	PUNCT
ajst-17385	61	1	1	1	NUM
ajst-17385	62	1	[	[	SYM
ajst-17385	62	2	5	5	NUM
ajst-17385	62	3	]	]	PUNCT
ajst-17385	62	4	developer	developer	NOUN
ajst-17385	62	5	community	community	NOUN
ajst-17385	62	6	.	.	PUNCT
ajst-17385	63	1	2021	2021	NUM
ajst-17385	63	2	.	.	PUNCT
ajst-17385	64	1	an	an	DET
ajst-17385	64	2	article	article	NOUN
ajst-17385	64	3	to	to	PART
ajst-17385	64	4	understand	understand	VERB
ajst-17385	64	5	the	the	DET
ajst-17385	64	6	pid	pid	NOUN
ajst-17385	64	7	control	control	NOUN
ajst-17385	64	8	algorithm	algorithm	NOUN
ajst-17385	64	9	.	.	PUNCT
ajst-17385	65	1	https://cloud.tencent.com/	https://cloud.tencent.com/	ADJ