id	sid	tid	token	lemma	pos
fumecheng-13939	1	1	microsoft	microsoft	PROPN
fumecheng-13939	1	2	word	word	NOUN
fumecheng-13939	1	3	rev	rev	VERB
fumecheng-13939	1	4	13939	13939	NUM
fumecheng-13939	1	5	-	-	SYM
fumecheng-13939	1	6	72201	72201	NUM
fumecheng-13939	1	7	-	-	PUNCT
fumecheng-13939	1	8	1	1	NUM
fumecheng-13939	1	9	-	-	PUNCT
fumecheng-13939	1	10	ce_li	ce_li	VERB
fumecheng-13939	1	11	xu_w12	xu_w12	PUNCT
fumecheng-13939	1	12	facta	facta	PROPN
fumecheng-13939	1	13	universitatis	universitatis	PROPN
fumecheng-13939	1	14	series	series	NOUN
fumecheng-13939	1	15	:	:	PUNCT
fumecheng-13939	1	16	mechanical	mechanical	ADJ
fumecheng-13939	1	17	engineering	engineering	NOUN
fumecheng-13939	1	18	https://doi.org/10.22190/fume250731034x	https://doi.org/10.22190/fume250731034x	NOUN
fumecheng-13939	1	19	©	©	PROPN
fumecheng-13939	1	20	2025	2025	NUM
fumecheng-13939	1	21	by	by	ADP
fumecheng-13939	1	22	university	university	PROPN
fumecheng-13939	1	23	of	of	ADP
fumecheng-13939	1	24	niš	niš	PROPN
fumecheng-13939	1	25	,	,	PUNCT
fumecheng-13939	1	26	serbia	serbia	PROPN
fumecheng-13939	1	27	|	|	ADV
fumecheng-13939	1	28	creative	creative	ADJ
fumecheng-13939	1	29	commons	common	NOUN
fumecheng-13939	1	30	license	license	NOUN
fumecheng-13939	1	31	:	:	PUNCT
fumecheng-13939	1	32	cc	cc	VERB
fumecheng-13939	1	33	by	by	ADP
fumecheng-13939	1	34	-	-	PUNCT
fumecheng-13939	1	35	nc	nc	VERB
fumecheng-13939	1	36	-	-	PUNCT
fumecheng-13939	1	37	nd	nd	ADV
fumecheng-13939	1	38	original	original	ADJ
fumecheng-13939	1	39	scientific	scientific	ADJ
fumecheng-13939	1	40	paper	paper	NUM
fumecheng-13939	1	41	fault	fault	NOUN
fumecheng-13939	1	42	-	-	PUNCT
fumecheng-13939	1	43	tolerant	tolerant	ADJ
fumecheng-13939	1	44	control	control	NOUN
fumecheng-13939	1	45	of	of	ADP
fumecheng-13939	1	46	low	low	ADJ
fumecheng-13939	1	47	-	-	PUNCT
fumecheng-13939	1	48	altitude	altitude	NOUN
fumecheng-13939	1	49	unmanned	unmanned	ADJ
fumecheng-13939	1	50	aerial	aerial	ADJ
fumecheng-13939	1	51	vehicle	vehicle	NOUN
fumecheng-13939	1	52	swarms	swarm	NOUN
fumecheng-13939	1	53	using	use	VERB
fumecheng-13939	1	54	a	a	DET
fumecheng-13939	1	55	reduced	reduce	VERB
fumecheng-13939	1	56	-	-	PUNCT
fumecheng-13939	1	57	order	order	NOUN
fumecheng-13939	1	58	sliding	slide	VERB
fumecheng-13939	1	59	mode	mode	NOUN
fumecheng-13939	1	60	observer	observer	NOUN
fumecheng-13939	1	61	li	li	PROPN
fumecheng-13939	1	62	xu	xu	PROPN
fumecheng-13939	1	63	school	school	PROPN
fumecheng-13939	1	64	of	of	ADP
fumecheng-13939	1	65	electronic	electronic	ADJ
fumecheng-13939	1	66	and	and	CCONJ
fumecheng-13939	1	67	information	information	NOUN
fumecheng-13939	1	68	engineering	engineering	NOUN
fumecheng-13939	1	69	,	,	PUNCT
fumecheng-13939	1	70	ningbo	ningbo	PROPN
fumecheng-13939	1	71	university	university	PROPN
fumecheng-13939	1	72	of	of	ADP
fumecheng-13939	1	73	technology	technology	PROPN
fumecheng-13939	1	74	,	,	PUNCT
fumecheng-13939	1	75	ningbo	ningbo	PROPN
fumecheng-13939	1	76	,	,	PUNCT
fumecheng-13939	1	77	china	china	PROPN
fumecheng-13939	1	78	abstract	abstract	PROPN
fumecheng-13939	1	79	.	.	PUNCT
fumecheng-13939	2	1	the	the	DET
fumecheng-13939	2	2	operational	operational	ADJ
fumecheng-13939	2	3	demands	demand	NOUN
fumecheng-13939	2	4	placed	place	VERB
fumecheng-13939	2	5	on	on	ADP
fumecheng-13939	2	6	unmanned	unmanned	ADJ
fumecheng-13939	2	7	aerial	aerial	ADJ
fumecheng-13939	2	8	vehicles	vehicle	NOUN
fumecheng-13939	2	9	(	(	PUNCT
fumecheng-13939	2	10	uavs	uavs	NOUN
fumecheng-13939	2	11	)	)	PUNCT
fumecheng-13939	2	12	have	have	AUX
fumecheng-13939	2	13	increased	increase	VERB
fumecheng-13939	2	14	significantly	significantly	ADV
fumecheng-13939	2	15	,	,	PUNCT
fumecheng-13939	2	16	rendering	render	VERB
fumecheng-13939	2	17	single	single	ADJ
fumecheng-13939	2	18	low	low	ADJ
fumecheng-13939	2	19	-	-	PUNCT
fumecheng-13939	2	20	altitude	altitude	NOUN
fumecheng-13939	2	21	uavs	uavs	NOUN
fumecheng-13939	2	22	insufficient	insufficient	NOUN
fumecheng-13939	2	23	for	for	ADP
fumecheng-13939	2	24	addressing	address	VERB
fumecheng-13939	2	25	complex	complex	ADJ
fumecheng-13939	2	26	missions	mission	NOUN
fumecheng-13939	2	27	and	and	CCONJ
fumecheng-13939	2	28	navigating	navigate	VERB
fumecheng-13939	2	29	dynamically	dynamically	ADV
fumecheng-13939	2	30	evolving	evolve	VERB
fumecheng-13939	2	31	information	information	NOUN
fumecheng-13939	2	32	environments	environment	NOUN
fumecheng-13939	2	33	.	.	PUNCT
fumecheng-13939	3	1	to	to	PART
fumecheng-13939	3	2	overcome	overcome	VERB
fumecheng-13939	3	3	these	these	DET
fumecheng-13939	3	4	limitations	limitation	NOUN
fumecheng-13939	3	5	,	,	PUNCT
fumecheng-13939	3	6	the	the	DET
fumecheng-13939	3	7	deployment	deployment	NOUN
fumecheng-13939	3	8	of	of	ADP
fumecheng-13939	3	9	low	low	ADJ
fumecheng-13939	3	10	-	-	PUNCT
fumecheng-13939	3	11	altitude	altitude	NOUN
fumecheng-13939	3	12	uav	uav	PROPN
fumecheng-13939	3	13	swarms	swarm	NOUN
fumecheng-13939	3	14	was	be	AUX
fumecheng-13939	3	15	adopted	adopt	VERB
fumecheng-13939	3	16	,	,	PUNCT
fumecheng-13939	3	17	offering	offer	VERB
fumecheng-13939	3	18	enhanced	enhance	VERB
fumecheng-13939	3	19	agility	agility	NOUN
fumecheng-13939	3	20	,	,	PUNCT
fumecheng-13939	3	21	adaptability	adaptability	NOUN
fumecheng-13939	3	22	,	,	PUNCT
fumecheng-13939	3	23	and	and	CCONJ
fumecheng-13939	3	24	scalability	scalability	NOUN
fumecheng-13939	3	25	.	.	PUNCT
fumecheng-13939	4	1	however	however	ADV
fumecheng-13939	4	2	,	,	PUNCT
fumecheng-13939	4	3	the	the	DET
fumecheng-13939	4	4	expansion	expansion	NOUN
fumecheng-13939	4	5	in	in	ADP
fumecheng-13939	4	6	swarm	swarm	NOUN
fumecheng-13939	4	7	size	size	NOUN
fumecheng-13939	4	8	leads	lead	VERB
fumecheng-13939	4	9	to	to	ADP
fumecheng-13939	4	10	a	a	DET
fumecheng-13939	4	11	higher	high	ADJ
fumecheng-13939	4	12	probability	probability	NOUN
fumecheng-13939	4	13	of	of	ADP
fumecheng-13939	4	14	actuator	actuator	NOUN
fumecheng-13939	4	15	faults	fault	NOUN
fumecheng-13939	4	16	and	and	CCONJ
fumecheng-13939	4	17	increased	increase	VERB
fumecheng-13939	4	18	complexity	complexity	NOUN
fumecheng-13939	4	19	in	in	ADP
fumecheng-13939	4	20	fault	fault	NOUN
fumecheng-13939	4	21	diagnosis	diagnosis	NOUN
fumecheng-13939	4	22	and	and	CCONJ
fumecheng-13939	4	23	mitigation	mitigation	NOUN
fumecheng-13939	4	24	.	.	PUNCT
fumecheng-13939	5	1	in	in	ADP
fumecheng-13939	5	2	this	this	DET
fumecheng-13939	5	3	study	study	NOUN
fumecheng-13939	5	4	,	,	PUNCT
fumecheng-13939	5	5	a	a	DET
fumecheng-13939	5	6	fault	fault	NOUN
fumecheng-13939	5	7	-	-	PUNCT
fumecheng-13939	5	8	tolerant	tolerant	ADJ
fumecheng-13939	5	9	control	control	NOUN
fumecheng-13939	5	10	framework	framework	NOUN
fumecheng-13939	5	11	was	be	AUX
fumecheng-13939	5	12	proposed	propose	VERB
fumecheng-13939	5	13	for	for	ADP
fumecheng-13939	5	14	low	low	ADJ
fumecheng-13939	5	15	-	-	PUNCT
fumecheng-13939	5	16	altitude	altitude	NOUN
fumecheng-13939	5	17	uav	uav	PROPN
fumecheng-13939	5	18	swarms	swarm	NOUN
fumecheng-13939	5	19	,	,	PUNCT
fumecheng-13939	5	20	incorporating	incorporate	VERB
fumecheng-13939	5	21	a	a	DET
fumecheng-13939	5	22	reduced	reduce	VERB
fumecheng-13939	5	23	-	-	PUNCT
fumecheng-13939	5	24	order	order	NOUN
fumecheng-13939	5	25	sliding	slide	VERB
fumecheng-13939	5	26	mode	mode	NOUN
fumecheng-13939	5	27	observer	observer	NOUN
fumecheng-13939	5	28	for	for	ADP
fumecheng-13939	5	29	real	real	ADJ
fumecheng-13939	5	30	-	-	PUNCT
fumecheng-13939	5	31	time	time	NOUN
fumecheng-13939	5	32	fault	fault	NOUN
fumecheng-13939	5	33	detection	detection	NOUN
fumecheng-13939	5	34	and	and	CCONJ
fumecheng-13939	5	35	isolation	isolation	NOUN
fumecheng-13939	5	36	.	.	PUNCT
fumecheng-13939	6	1	a	a	DET
fumecheng-13939	6	2	dynamic	dynamic	ADJ
fumecheng-13939	6	3	model	model	NOUN
fumecheng-13939	6	4	of	of	ADP
fumecheng-13939	6	5	the	the	DET
fumecheng-13939	6	6	uav	uav	PROPN
fumecheng-13939	6	7	swarm	swarm	NOUN
fumecheng-13939	6	8	was	be	AUX
fumecheng-13939	6	9	first	first	ADV
fumecheng-13939	6	10	established	establish	VERB
fumecheng-13939	6	11	based	base	VERB
fumecheng-13939	6	12	on	on	ADP
fumecheng-13939	6	13	newtonian	newtonian	ADJ
fumecheng-13939	6	14	mechanics	mechanic	NOUN
fumecheng-13939	6	15	and	and	CCONJ
fumecheng-13939	6	16	coordinate	coordinate	VERB
fumecheng-13939	6	17	transformation	transformation	NOUN
fumecheng-13939	6	18	techniques	technique	NOUN
fumecheng-13939	6	19	,	,	PUNCT
fumecheng-13939	6	20	accurately	accurately	ADV
fumecheng-13939	6	21	capturing	capture	VERB
fumecheng-13939	6	22	inter	inter	ADJ
fumecheng-13939	6	23	-	-	ADJ
fumecheng-13939	6	24	agent	agent	ADJ
fumecheng-13939	6	25	dynamics	dynamic	NOUN
fumecheng-13939	6	26	and	and	CCONJ
fumecheng-13939	6	27	external	external	ADJ
fumecheng-13939	6	28	disturbances	disturbance	NOUN
fumecheng-13939	6	29	.	.	PUNCT
fumecheng-13939	7	1	building	build	VERB
fumecheng-13939	7	2	upon	upon	SCONJ
fumecheng-13939	7	3	this	this	DET
fumecheng-13939	7	4	model	model	NOUN
fumecheng-13939	7	5	,	,	PUNCT
fumecheng-13939	7	6	a	a	DET
fumecheng-13939	7	7	reduced	reduce	VERB
fumecheng-13939	7	8	-	-	PUNCT
fumecheng-13939	7	9	order	order	NOUN
fumecheng-13939	7	10	sliding	slide	VERB
fumecheng-13939	7	11	mode	mode	NOUN
fumecheng-13939	7	12	observer	observer	NOUN
fumecheng-13939	7	13	was	be	AUX
fumecheng-13939	7	14	constructed	construct	VERB
fumecheng-13939	7	15	to	to	PART
fumecheng-13939	7	16	enable	enable	VERB
fumecheng-13939	7	17	prompt	prompt	ADJ
fumecheng-13939	7	18	estimation	estimation	NOUN
fumecheng-13939	7	19	of	of	ADP
fumecheng-13939	7	20	actuator	actuator	NOUN
fumecheng-13939	7	21	faults	fault	NOUN
fumecheng-13939	7	22	while	while	SCONJ
fumecheng-13939	7	23	ensuring	ensure	VERB
fumecheng-13939	7	24	robustness	robustness	NOUN
fumecheng-13939	7	25	against	against	ADP
fumecheng-13939	7	26	uncertainties	uncertainty	NOUN
fumecheng-13939	7	27	and	and	CCONJ
fumecheng-13939	7	28	model	model	NOUN
fumecheng-13939	7	29	inaccuracies	inaccuracy	NOUN
fumecheng-13939	7	30	.	.	PUNCT
fumecheng-13939	8	1	fault	fault	NOUN
fumecheng-13939	8	2	estimates	estimate	NOUN
fumecheng-13939	8	3	obtained	obtain	VERB
fumecheng-13939	8	4	in	in	ADP
fumecheng-13939	8	5	real	real	ADJ
fumecheng-13939	8	6	time	time	NOUN
fumecheng-13939	8	7	were	be	AUX
fumecheng-13939	8	8	subsequently	subsequently	ADV
fumecheng-13939	8	9	utilized	utilize	VERB
fumecheng-13939	8	10	in	in	ADP
fumecheng-13939	8	11	the	the	DET
fumecheng-13939	8	12	design	design	NOUN
fumecheng-13939	8	13	of	of	ADP
fumecheng-13939	8	14	a	a	DET
fumecheng-13939	8	15	fault	fault	NOUN
fumecheng-13939	8	16	compensation	compensation	NOUN
fumecheng-13939	8	17	controller	controller	NOUN
fumecheng-13939	8	18	to	to	PART
fumecheng-13939	8	19	maintain	maintain	VERB
fumecheng-13939	8	20	swarm	swarm	NOUN
fumecheng-13939	8	21	stability	stability	NOUN
fumecheng-13939	8	22	and	and	CCONJ
fumecheng-13939	8	23	performance	performance	NOUN
fumecheng-13939	8	24	in	in	ADP
fumecheng-13939	8	25	the	the	DET
fumecheng-13939	8	26	presence	presence	NOUN
fumecheng-13939	8	27	of	of	ADP
fumecheng-13939	8	28	partial	partial	ADJ
fumecheng-13939	8	29	actuator	actuator	NOUN
fumecheng-13939	8	30	failures	failure	NOUN
fumecheng-13939	8	31	.	.	PUNCT
fumecheng-13939	9	1	the	the	DET
fumecheng-13939	9	2	stability	stability	NOUN
fumecheng-13939	9	3	and	and	CCONJ
fumecheng-13939	9	4	reachability	reachability	NOUN
fumecheng-13939	9	5	of	of	ADP
fumecheng-13939	9	6	the	the	DET
fumecheng-13939	9	7	proposed	propose	VERB
fumecheng-13939	9	8	observer	observer	NOUN
fumecheng-13939	9	9	were	be	AUX
fumecheng-13939	9	10	rigorously	rigorously	ADV
fumecheng-13939	9	11	validated	validate	VERB
fumecheng-13939	9	12	through	through	ADP
fumecheng-13939	9	13	lyapunov	lyapunov	NOUN
fumecheng-13939	9	14	-	-	PUNCT
fumecheng-13939	9	15	based	base	VERB
fumecheng-13939	9	16	analysis	analysis	NOUN
fumecheng-13939	9	17	,	,	PUNCT
fumecheng-13939	9	18	ensuring	ensure	VERB
fumecheng-13939	9	19	convergence	convergence	NOUN
fumecheng-13939	9	20	of	of	ADP
fumecheng-13939	9	21	the	the	DET
fumecheng-13939	9	22	fault	fault	NOUN
fumecheng-13939	9	23	estimation	estimation	NOUN
fumecheng-13939	9	24	error	error	NOUN
fumecheng-13939	9	25	.	.	PUNCT
fumecheng-13939	10	1	to	to	PART
fumecheng-13939	10	2	evaluate	evaluate	VERB
fumecheng-13939	10	3	the	the	DET
fumecheng-13939	10	4	proposed	propose	VERB
fumecheng-13939	10	5	methodology	methodology	NOUN
fumecheng-13939	10	6	,	,	PUNCT
fumecheng-13939	10	7	an	an	DET
fumecheng-13939	10	8	experimental	experimental	ADJ
fumecheng-13939	10	9	uav	uav	PROPN
fumecheng-13939	10	10	swarm	swarm	NOUN
fumecheng-13939	10	11	platform	platform	NOUN
fumecheng-13939	10	12	operating	operate	VERB
fumecheng-13939	10	13	at	at	ADP
fumecheng-13939	10	14	low	low	ADJ
fumecheng-13939	10	15	altitude	altitude	NOUN
fumecheng-13939	10	16	was	be	AUX
fumecheng-13939	10	17	developed	develop	VERB
fumecheng-13939	10	18	.	.	PUNCT
fumecheng-13939	11	1	experimental	experimental	ADJ
fumecheng-13939	11	2	results	result	NOUN
fumecheng-13939	11	3	demonstrate	demonstrate	VERB
fumecheng-13939	11	4	the	the	DET
fumecheng-13939	11	5	high	high	ADJ
fumecheng-13939	11	6	accuracy	accuracy	NOUN
fumecheng-13939	11	7	,	,	PUNCT
fumecheng-13939	11	8	resilience	resilience	NOUN
fumecheng-13939	11	9	,	,	PUNCT
fumecheng-13939	11	10	and	and	CCONJ
fumecheng-13939	11	11	computational	computational	ADJ
fumecheng-13939	11	12	efficiency	efficiency	NOUN
fumecheng-13939	11	13	of	of	ADP
fumecheng-13939	11	14	the	the	DET
fumecheng-13939	11	15	fault	fault	NOUN
fumecheng-13939	11	16	-	-	PUNCT
fumecheng-13939	11	17	tolerant	tolerant	ADJ
fumecheng-13939	11	18	control	control	NOUN
fumecheng-13939	11	19	system	system	NOUN
fumecheng-13939	11	20	under	under	ADP
fumecheng-13939	11	21	various	various	ADJ
fumecheng-13939	11	22	fault	fault	NOUN
fumecheng-13939	11	23	scenarios	scenario	NOUN
fumecheng-13939	11	24	,	,	PUNCT
fumecheng-13939	11	25	highlighting	highlight	VERB
fumecheng-13939	11	26	its	its	PRON
fumecheng-13939	11	27	practical	practical	ADJ
fumecheng-13939	11	28	applicability	applicability	NOUN
fumecheng-13939	11	29	to	to	ADP
fumecheng-13939	11	30	real	real	ADJ
fumecheng-13939	11	31	-	-	PUNCT
fumecheng-13939	11	32	world	world	NOUN
fumecheng-13939	11	33	uav	uav	PROPN
fumecheng-13939	11	34	swarm	swarm	NOUN
fumecheng-13939	11	35	deployments	deployment	NOUN
fumecheng-13939	11	36	.	.	PUNCT
fumecheng-13939	12	1	the	the	DET
fumecheng-13939	12	2	proposed	propose	VERB
fumecheng-13939	12	3	framework	framework	NOUN
fumecheng-13939	12	4	offers	offer	VERB
fumecheng-13939	12	5	a	a	DET
fumecheng-13939	12	6	scalable	scalable	ADJ
fumecheng-13939	12	7	and	and	CCONJ
fumecheng-13939	12	8	robust	robust	ADJ
fumecheng-13939	12	9	solution	solution	NOUN
fumecheng-13939	12	10	for	for	ADP
fumecheng-13939	12	11	maintaining	maintain	VERB
fumecheng-13939	12	12	mission	mission	NOUN
fumecheng-13939	12	13	continuity	continuity	NOUN
fumecheng-13939	12	14	in	in	ADP
fumecheng-13939	12	15	safety	safety	NOUN
fumecheng-13939	12	16	-	-	PUNCT
fumecheng-13939	12	17	critical	critical	ADJ
fumecheng-13939	12	18	uav	uav	PROPN
fumecheng-13939	12	19	swarm	swarm	NOUN
fumecheng-13939	12	20	operations	operation	NOUN
fumecheng-13939	12	21	.	.	PUNCT
fumecheng-13939	13	1	key	key	ADJ
fumecheng-13939	13	2	words	word	NOUN
fumecheng-13939	13	3	:	:	PUNCT
fumecheng-13939	13	4	unmanned	unmanned	ADJ
fumecheng-13939	13	5	aerial	aerial	ADJ
fumecheng-13939	13	6	vehicle	vehicle	NOUN
fumecheng-13939	13	7	swarm	swarm	NOUN
fumecheng-13939	13	8	,	,	PUNCT
fumecheng-13939	13	9	mathematical	mathematical	ADJ
fumecheng-13939	13	10	model	model	NOUN
fumecheng-13939	13	11	,	,	PUNCT
fumecheng-13939	13	12	sliding	slide	VERB
fumecheng-13939	13	13	mode	mode	NOUN
fumecheng-13939	13	14	observer	observer	NOUN
fumecheng-13939	13	15	,	,	PUNCT
fumecheng-13939	13	16	fault	fault	NOUN
fumecheng-13939	13	17	-	-	PUNCT
fumecheng-13939	13	18	tolerant	tolerant	ADJ
fumecheng-13939	13	19	control	control	NOUN
fumecheng-13939	13	20	,	,	PUNCT
fumecheng-13939	13	21	lyapunov	lyapunov	PROPN
fumecheng-13939	13	22	stability	stability	NOUN
fumecheng-13939	13	23	theorem	theorem	VERB
fumecheng-13939	13	24	received	receive	VERB
fumecheng-13939	13	25	:	:	PUNCT
fumecheng-13939	13	26	july	july	PROPN
fumecheng-13939	13	27	31	31	NUM
fumecheng-13939	13	28	,	,	PUNCT
fumecheng-13939	13	29	2025	2025	NUM
fumecheng-13939	13	30	/	/	SYM
fumecheng-13939	13	31	accepted	accept	VERB
fumecheng-13939	13	32	december	december	PROPN
fumecheng-13939	13	33	21	21	NUM
fumecheng-13939	13	34	,	,	PUNCT
fumecheng-13939	13	35	2025	2025	NUM
fumecheng-13939	13	36	corresponding	correspond	VERB
fumecheng-13939	13	37	author	author	NOUN
fumecheng-13939	13	38	:	:	PUNCT
fumecheng-13939	13	39	li	li	PROPN
fumecheng-13939	13	40	xu	xu	PROPN
fumecheng-13939	13	41	school	school	PROPN
fumecheng-13939	13	42	of	of	ADP
fumecheng-13939	13	43	electronic	electronic	ADJ
fumecheng-13939	13	44	and	and	CCONJ
fumecheng-13939	13	45	information	information	NOUN
fumecheng-13939	13	46	engineering	engineering	NOUN
fumecheng-13939	13	47	,	,	PUNCT
fumecheng-13939	13	48	ningbo	ningbo	PROPN
fumecheng-13939	13	49	university	university	PROPN
fumecheng-13939	13	50	of	of	ADP
fumecheng-13939	13	51	technology	technology	PROPN
fumecheng-13939	13	52	,	,	PUNCT
fumecheng-13939	13	53	ningbo	ningbo	PROPN
fumecheng-13939	13	54	315211	315211	NUM
fumecheng-13939	13	55	,	,	PUNCT
fumecheng-13939	13	56	china	china	PROPN
fumecheng-13939	13	57	e	e	PROPN
fumecheng-13939	13	58	-	-	NOUN
fumecheng-13939	13	59	mail	mail	NOUN
fumecheng-13939	13	60	:	:	PUNCT
fumecheng-13939	13	61	xuli@nbut.edu.cn	xuli@nbut.edu.cn	PROPN
fumecheng-13939	13	62	2	2	NUM
fumecheng-13939	13	63	l.	l.	PROPN
fumecheng-13939	13	64	xu	xu	PROPN
fumecheng-13939	13	65	1	1	X
fumecheng-13939	13	66	.	.	PUNCT
fumecheng-13939	13	67	introduction	introduction	NOUN
fumecheng-13939	13	68	in	in	ADP
fumecheng-13939	13	69	recent	recent	ADJ
fumecheng-13939	13	70	years	year	NOUN
fumecheng-13939	13	71	,	,	PUNCT
fumecheng-13939	13	72	uavs	uavs	PROPN
fumecheng-13939	13	73	have	have	AUX
fumecheng-13939	13	74	been	be	AUX
fumecheng-13939	13	75	widely	widely	ADV
fumecheng-13939	13	76	used	use	VERB
fumecheng-13939	13	77	in	in	ADP
fumecheng-13939	13	78	wide	wide	ADJ
fumecheng-13939	13	79	-	-	PUNCT
fumecheng-13939	13	80	area	area	NOUN
fumecheng-13939	13	81	searches	search	NOUN
fumecheng-13939	13	82	,	,	PUNCT
fumecheng-13939	13	83	low	low	ADJ
fumecheng-13939	13	84	-	-	PUNCT
fumecheng-13939	13	85	altitude	altitude	NOUN
fumecheng-13939	13	86	exploration	exploration	NOUN
fumecheng-13939	13	87	,	,	PUNCT
fumecheng-13939	13	88	forest	forest	NOUN
fumecheng-13939	13	89	fire	fire	NOUN
fumecheng-13939	13	90	monitoring	monitoring	NOUN
fumecheng-13939	13	91	and	and	CCONJ
fumecheng-13939	13	92	other	other	ADJ
fumecheng-13939	13	93	fields	field	NOUN
fumecheng-13939	13	94	.	.	PUNCT
fumecheng-13939	14	1	a	a	DET
fumecheng-13939	14	2	single	single	ADJ
fumecheng-13939	14	3	uav	uav	PROPN
fumecheng-13939	14	4	can	can	AUX
fumecheng-13939	14	5	hardly	hardly	ADV
fumecheng-13939	14	6	meet	meet	VERB
fumecheng-13939	14	7	the	the	DET
fumecheng-13939	14	8	needs	need	NOUN
fumecheng-13939	14	9	of	of	ADP
fumecheng-13939	14	10	the	the	DET
fumecheng-13939	14	11	increasingly	increasingly	ADV
fumecheng-13939	14	12	complex	complex	ADJ
fumecheng-13939	14	13	information	information	NOUN
fumecheng-13939	14	14	environment	environment	NOUN
fumecheng-13939	14	15	,	,	PUNCT
fumecheng-13939	14	16	and	and	CCONJ
fumecheng-13939	14	17	uav	uav	PROPN
fumecheng-13939	14	18	swarms	swarm	NOUN
fumecheng-13939	14	19	are	be	AUX
fumecheng-13939	14	20	becoming	become	VERB
fumecheng-13939	14	21	a	a	DET
fumecheng-13939	14	22	research	research	NOUN
fumecheng-13939	14	23	hotspot	hotspot	NOUN
fumecheng-13939	14	24	in	in	ADP
fumecheng-13939	14	25	various	various	ADJ
fumecheng-13939	14	26	countries	country	NOUN
fumecheng-13939	15	1	[	[	X
fumecheng-13939	15	2	1	1	NUM
fumecheng-13939	15	3	-	-	SYM
fumecheng-13939	15	4	5	5	NUM
fumecheng-13939	15	5	]	]	PUNCT
fumecheng-13939	15	6	.	.	PUNCT
fumecheng-13939	16	1	uav	uav	PROPN
fumecheng-13939	16	2	swarms	swarm	NOUN
fumecheng-13939	16	3	replace	replace	VERB
fumecheng-13939	16	4	the	the	DET
fumecheng-13939	16	5	individual	individual	ADJ
fumecheng-13939	16	6	units	unit	NOUN
fumecheng-13939	16	7	in	in	ADP
fumecheng-13939	16	8	a	a	DET
fumecheng-13939	16	9	collaborative	collaborative	ADJ
fumecheng-13939	16	10	manner	manner	NOUN
fumecheng-13939	16	11	,	,	PUNCT
fumecheng-13939	16	12	which	which	PRON
fumecheng-13939	16	13	can	can	AUX
fumecheng-13939	16	14	significantly	significantly	ADV
fumecheng-13939	16	15	improve	improve	VERB
fumecheng-13939	16	16	mission	mission	NOUN
fumecheng-13939	16	17	coverage	coverage	NOUN
fumecheng-13939	16	18	and	and	CCONJ
fumecheng-13939	16	19	search	search	NOUN
fumecheng-13939	16	20	efficiency	efficiency	NOUN
fumecheng-13939	16	21	without	without	ADP
fumecheng-13939	16	22	increasing	increase	VERB
fumecheng-13939	16	23	costs	cost	NOUN
fumecheng-13939	16	24	[	[	X
fumecheng-13939	16	25	6	6	NUM
fumecheng-13939	16	26	,	,	PUNCT
fumecheng-13939	16	27	7	7	NUM
fumecheng-13939	16	28	]	]	PUNCT
fumecheng-13939	16	29	.	.	PUNCT
fumecheng-13939	17	1	on	on	ADP
fumecheng-13939	17	2	the	the	DET
fumecheng-13939	17	3	other	other	ADJ
fumecheng-13939	17	4	hand	hand	NOUN
fumecheng-13939	17	5	,	,	PUNCT
fumecheng-13939	17	6	the	the	DET
fumecheng-13939	17	7	uav	uav	PROPN
fumecheng-13939	17	8	itself	itself	PRON
fumecheng-13939	17	9	is	be	AUX
fumecheng-13939	17	10	a	a	DET
fumecheng-13939	17	11	nonlinear	nonlinear	ADJ
fumecheng-13939	17	12	,	,	PUNCT
fumecheng-13939	17	13	multiple	multiple	ADJ
fumecheng-13939	17	14	-	-	PUNCT
fumecheng-13939	17	15	input	input	NOUN
fumecheng-13939	17	16	multiple	multiple	ADJ
fumecheng-13939	17	17	-	-	PUNCT
fumecheng-13939	17	18	output	output	NOUN
fumecheng-13939	17	19	(	(	PUNCT
fumecheng-13939	17	20	mimo	mimo	PROPN
fumecheng-13939	17	21	)	)	PUNCT
fumecheng-13939	17	22	,	,	PUNCT
fumecheng-13939	17	23	strongly	strongly	ADV
fumecheng-13939	17	24	coupled	couple	VERB
fumecheng-13939	17	25	underactuated	underactuated	ADJ
fumecheng-13939	17	26	system	system	NOUN
fumecheng-13939	17	27	,	,	PUNCT
fumecheng-13939	17	28	and	and	CCONJ
fumecheng-13939	17	29	the	the	DET
fumecheng-13939	17	30	design	design	NOUN
fumecheng-13939	17	31	of	of	ADP
fumecheng-13939	17	32	a	a	DET
fumecheng-13939	17	33	single	single	ADJ
fumecheng-13939	17	34	uav	uav	PROPN
fumecheng-13939	17	35	control	control	PROPN
fumecheng-13939	17	36	algorithm	algorithm	PROPN
fumecheng-13939	17	37	has	have	AUX
fumecheng-13939	17	38	been	be	AUX
fumecheng-13939	17	39	very	very	ADV
fumecheng-13939	17	40	complicated	complicated	ADJ
fumecheng-13939	17	41	.	.	PUNCT
fumecheng-13939	18	1	due	due	ADP
fumecheng-13939	18	2	to	to	ADP
fumecheng-13939	18	3	the	the	DET
fumecheng-13939	18	4	geometric	geometric	ADJ
fumecheng-13939	18	5	increase	increase	NOUN
fumecheng-13939	18	6	in	in	ADP
fumecheng-13939	18	7	the	the	DET
fumecheng-13939	18	8	number	number	NOUN
fumecheng-13939	18	9	of	of	ADP
fumecheng-13939	18	10	components	component	NOUN
fumecheng-13939	18	11	,	,	PUNCT
fumecheng-13939	18	12	the	the	DET
fumecheng-13939	18	13	fault	fault	NOUN
fumecheng-13939	18	14	incidence	incidence	NOUN
fumecheng-13939	18	15	of	of	ADP
fumecheng-13939	18	16	multiple	multiple	ADJ
fumecheng-13939	18	17	uavs	uavs	NOUN
fumecheng-13939	18	18	will	will	AUX
fumecheng-13939	18	19	be	be	AUX
fumecheng-13939	18	20	greatly	greatly	ADV
fumecheng-13939	18	21	increased	increase	VERB
fumecheng-13939	18	22	.	.	PUNCT
fumecheng-13939	19	1	therefore	therefore	ADV
fumecheng-13939	19	2	,	,	PUNCT
fumecheng-13939	19	3	it	it	PRON
fumecheng-13939	19	4	is	be	AUX
fumecheng-13939	19	5	a	a	DET
fumecheng-13939	19	6	meaningful	meaningful	ADJ
fumecheng-13939	19	7	issue	issue	NOUN
fumecheng-13939	19	8	to	to	PART
fumecheng-13939	19	9	consider	consider	VERB
fumecheng-13939	19	10	the	the	DET
fumecheng-13939	19	11	coordination	coordination	NOUN
fumecheng-13939	19	12	and	and	CCONJ
fumecheng-13939	19	13	fault	fault	VERB
fumecheng-13939	19	14	tolerance	tolerance	NOUN
fumecheng-13939	19	15	of	of	ADP
fumecheng-13939	19	16	multiple	multiple	ADJ
fumecheng-13939	19	17	uavs	uavs	NOUN
fumecheng-13939	19	18	after	after	ADP
fumecheng-13939	19	19	partial	partial	ADJ
fumecheng-13939	19	20	faults	fault	NOUN
fumecheng-13939	19	21	.	.	PUNCT
fumecheng-13939	20	1	however	however	ADV
fumecheng-13939	20	2	,	,	PUNCT
fumecheng-13939	20	3	the	the	DET
fumecheng-13939	20	4	coordination	coordination	NOUN
fumecheng-13939	20	5	of	of	ADP
fumecheng-13939	20	6	uavs	uavs	NOUN
fumecheng-13939	20	7	under	under	ADP
fumecheng-13939	20	8	partial	partial	ADJ
fumecheng-13939	20	9	faults	fault	NOUN
fumecheng-13939	20	10	and	and	CCONJ
fumecheng-13939	20	11	their	their	PRON
fumecheng-13939	20	12	formation	formation	NOUN
fumecheng-13939	20	13	control	control	NOUN
fumecheng-13939	20	14	design	design	NOUN
fumecheng-13939	20	15	are	be	AUX
fumecheng-13939	20	16	still	still	ADV
fumecheng-13939	20	17	one	one	NUM
fumecheng-13939	20	18	of	of	ADP
fumecheng-13939	20	19	the	the	DET
fumecheng-13939	20	20	challenges	challenge	NOUN
fumecheng-13939	20	21	in	in	ADP
fumecheng-13939	20	22	this	this	DET
fumecheng-13939	20	23	field	field	NOUN
fumecheng-13939	20	24	[	[	X
fumecheng-13939	20	25	8	8	NUM
fumecheng-13939	20	26	]	]	PUNCT
fumecheng-13939	20	27	.	.	PUNCT
fumecheng-13939	21	1	in	in	ADP
fumecheng-13939	21	2	recent	recent	ADJ
fumecheng-13939	21	3	years	year	NOUN
fumecheng-13939	21	4	,	,	PUNCT
fumecheng-13939	21	5	many	many	ADJ
fumecheng-13939	21	6	researchers	researcher	NOUN
fumecheng-13939	21	7	have	have	AUX
fumecheng-13939	21	8	developed	develop	VERB
fumecheng-13939	21	9	many	many	ADJ
fumecheng-13939	21	10	practical	practical	ADJ
fumecheng-13939	21	11	strategies	strategy	NOUN
fumecheng-13939	21	12	for	for	ADP
fumecheng-13939	21	13	the	the	DET
fumecheng-13939	21	14	collaborative	collaborative	ADJ
fumecheng-13939	21	15	formation	formation	NOUN
fumecheng-13939	21	16	control	control	NOUN
fumecheng-13939	21	17	of	of	ADP
fumecheng-13939	21	18	uav	uav	PROPN
fumecheng-13939	21	19	swarms	swarm	NOUN
fumecheng-13939	21	20	.	.	PUNCT
fumecheng-13939	22	1	dong	dong	NOUN
fumecheng-13939	22	2	et	et	PROPN
fumecheng-13939	22	3	al	al	PROPN
fumecheng-13939	22	4	.	.	PUNCT
fumecheng-13939	23	1	[	[	X
fumecheng-13939	23	2	9	9	NUM
fumecheng-13939	23	3	]	]	PUNCT
fumecheng-13939	23	4	presented	present	VERB
fumecheng-13939	23	5	an	an	DET
fumecheng-13939	23	6	improved	improve	VERB
fumecheng-13939	23	7	distributed	distribute	VERB
fumecheng-13939	23	8	control	control	NOUN
fumecheng-13939	23	9	strategy	strategy	NOUN
fumecheng-13939	23	10	for	for	ADP
fumecheng-13939	23	11	formation	formation	NOUN
fumecheng-13939	23	12	maneuverability	maneuverability	NOUN
fumecheng-13939	23	13	and	and	CCONJ
fumecheng-13939	23	14	verified	verify	VERB
fumecheng-13939	23	15	its	its	PRON
fumecheng-13939	23	16	effectiveness	effectiveness	NOUN
fumecheng-13939	23	17	through	through	ADP
fumecheng-13939	23	18	experiments	experiment	NOUN
fumecheng-13939	23	19	.	.	PUNCT
fumecheng-13939	24	1	liao	liao	PROPN
fumecheng-13939	24	2	et	et	PROPN
fumecheng-13939	24	3	al	al	PROPN
fumecheng-13939	24	4	.	.	PUNCT
fumecheng-13939	25	1	[	[	X
fumecheng-13939	25	2	10	10	NUM
fumecheng-13939	25	3	]	]	PUNCT
fumecheng-13939	25	4	put	put	VERB
fumecheng-13939	25	5	forward	forward	ADV
fumecheng-13939	25	6	a	a	DET
fumecheng-13939	25	7	control	control	NOUN
fumecheng-13939	25	8	scheme	scheme	NOUN
fumecheng-13939	25	9	to	to	PART
fumecheng-13939	25	10	produce	produce	VERB
fumecheng-13939	25	11	a	a	DET
fumecheng-13939	25	12	collision	collision	NOUN
fumecheng-13939	25	13	avoidance	avoidance	NOUN
fumecheng-13939	25	14	mechanism	mechanism	NOUN
fumecheng-13939	25	15	so	so	SCONJ
fumecheng-13939	25	16	that	that	SCONJ
fumecheng-13939	25	17	the	the	DET
fumecheng-13939	25	18	uav	uav	PROPN
fumecheng-13939	25	19	swarms	swarm	NOUN
fumecheng-13939	25	20	can	can	AUX
fumecheng-13939	25	21	complete	complete	VERB
fumecheng-13939	25	22	formation	formation	NOUN
fumecheng-13939	25	23	and	and	CCONJ
fumecheng-13939	25	24	reconstruction	reconstruction	NOUN
fumecheng-13939	25	25	without	without	ADP
fumecheng-13939	25	26	internal	internal	ADJ
fumecheng-13939	25	27	collision	collision	NOUN
fumecheng-13939	25	28	.	.	PUNCT
fumecheng-13939	26	1	kang	kang	PROPN
fumecheng-13939	26	2	et	et	PROPN
fumecheng-13939	26	3	al	al	PROPN
fumecheng-13939	26	4	.	.	PUNCT
fumecheng-13939	27	1	[	[	X
fumecheng-13939	27	2	11	11	NUM
fumecheng-13939	27	3	]	]	PUNCT
fumecheng-13939	27	4	developed	develop	VERB
fumecheng-13939	27	5	a	a	DET
fumecheng-13939	27	6	distance	distance	NOUN
fumecheng-13939	27	7	-	-	PUNCT
fumecheng-13939	27	8	based	base	VERB
fumecheng-13939	27	9	continuous	continuous	ADJ
fumecheng-13939	27	10	formation	formation	NOUN
fumecheng-13939	27	11	control	control	NOUN
fumecheng-13939	27	12	method	method	NOUN
fumecheng-13939	27	13	.	.	PUNCT
fumecheng-13939	28	1	belkadi	belkadi	NOUN
fumecheng-13939	28	2	et	et	PROPN
fumecheng-13939	28	3	al	al	PROPN
fumecheng-13939	28	4	.	.	PUNCT
fumecheng-13939	29	1	[	[	X
fumecheng-13939	29	2	12	12	NUM
fumecheng-13939	29	3	]	]	PUNCT
fumecheng-13939	29	4	proposed	propose	VERB
fumecheng-13939	29	5	a	a	DET
fumecheng-13939	29	6	distributed	distribute	VERB
fumecheng-13939	29	7	path	path	NOUN
fumecheng-13939	29	8	planning	planning	NOUN
fumecheng-13939	29	9	strategy	strategy	NOUN
fumecheng-13939	29	10	under	under	ADP
fumecheng-13939	29	11	the	the	DET
fumecheng-13939	29	12	framework	framework	NOUN
fumecheng-13939	29	13	of	of	ADP
fumecheng-13939	29	14	multi	multi	ADJ
fumecheng-13939	29	15	-	-	ADJ
fumecheng-13939	29	16	agent	agent	ADJ
fumecheng-13939	29	17	systems	system	NOUN
fumecheng-13939	29	18	.	.	PUNCT
fumecheng-13939	30	1	yang	yang	PROPN
fumecheng-13939	30	2	et	et	PROPN
fumecheng-13939	30	3	al	al	PROPN
fumecheng-13939	30	4	.	.	PUNCT
fumecheng-13939	31	1	[	[	X
fumecheng-13939	31	2	13	13	NUM
fumecheng-13939	31	3	]	]	PUNCT
fumecheng-13939	31	4	presented	present	VERB
fumecheng-13939	31	5	a	a	DET
fumecheng-13939	31	6	uav	uav	PROPN
fumecheng-13939	31	7	swarm	swarm	NOUN
fumecheng-13939	31	8	power	power	NOUN
fumecheng-13939	31	9	control	control	PROPN
fumecheng-13939	31	10	method	method	NOUN
fumecheng-13939	31	11	and	and	CCONJ
fumecheng-13939	31	12	trajectory	trajectory	NOUN
fumecheng-13939	31	13	planning	planning	NOUN
fumecheng-13939	31	14	derived	derive	VERB
fumecheng-13939	31	15	from	from	ADP
fumecheng-13939	31	16	a	a	DET
fumecheng-13939	31	17	depth	depth	NOUN
fumecheng-13939	31	18	deterministic	deterministic	ADJ
fumecheng-13939	31	19	strategy	strategy	NOUN
fumecheng-13939	31	20	gradient	gradient	NOUN
fumecheng-13939	31	21	.	.	PUNCT
fumecheng-13939	32	1	liu	liu	PROPN
fumecheng-13939	32	2	et	et	PROPN
fumecheng-13939	32	3	al	al	PROPN
fumecheng-13939	32	4	.	.	PUNCT
fumecheng-13939	33	1	[	[	X
fumecheng-13939	33	2	14	14	NUM
fumecheng-13939	33	3	]	]	PUNCT
fumecheng-13939	33	4	came	come	VERB
fumecheng-13939	33	5	up	up	ADP
fumecheng-13939	33	6	with	with	ADP
fumecheng-13939	33	7	a	a	DET
fumecheng-13939	33	8	multi	multi	ADJ
fumecheng-13939	33	9	-	-	ADJ
fumecheng-13939	33	10	objective	objective	ADJ
fumecheng-13939	33	11	optimization	optimization	NOUN
fumecheng-13939	33	12	model	model	NOUN
fumecheng-13939	33	13	of	of	ADP
fumecheng-13939	33	14	uav	uav	PROPN
fumecheng-13939	33	15	swarm	swarm	NOUN
fumecheng-13939	33	16	trajectory	trajectory	NOUN
fumecheng-13939	33	17	using	use	VERB
fumecheng-13939	33	18	the	the	DET
fumecheng-13939	33	19	decomposition	decomposition	NOUN
fumecheng-13939	33	20	method	method	NOUN
fumecheng-13939	33	21	and	and	CCONJ
fumecheng-13939	33	22	trajectory	trajectory	NOUN
fumecheng-13939	33	23	search	search	NOUN
fumecheng-13939	33	24	.	.	PUNCT
fumecheng-13939	34	1	however	however	ADV
fumecheng-13939	34	2	,	,	PUNCT
fumecheng-13939	34	3	the	the	DET
fumecheng-13939	34	4	control	control	NOUN
fumecheng-13939	34	5	schemes	scheme	NOUN
fumecheng-13939	34	6	raised	raise	VERB
fumecheng-13939	34	7	in	in	ADP
fumecheng-13939	34	8	some	some	DET
fumecheng-13939	34	9	studies	study	NOUN
fumecheng-13939	34	10	[	[	X
fumecheng-13939	34	11	9	9	NUM
fumecheng-13939	34	12	-	-	SYM
fumecheng-13939	34	13	14	14	NUM
fumecheng-13939	34	14	]	]	PUNCT
fumecheng-13939	34	15	stem	stem	NOUN
fumecheng-13939	34	16	from	from	ADP
fumecheng-13939	34	17	a	a	DET
fumecheng-13939	34	18	necessary	necessary	ADJ
fumecheng-13939	34	19	assumption	assumption	NOUN
fumecheng-13939	34	20	,	,	PUNCT
fumecheng-13939	34	21	i.e.	i.e.	X
fumecheng-13939	34	22	,	,	PUNCT
fumecheng-13939	34	23	a	a	DET
fumecheng-13939	34	24	single	single	ADJ
fumecheng-13939	34	25	uav	uav	PROPN
fumecheng-13939	34	26	in	in	ADP
fumecheng-13939	34	27	a	a	DET
fumecheng-13939	34	28	uav	uav	PROPN
fumecheng-13939	34	29	swarm	swarm	NOUN
fumecheng-13939	34	30	can	can	AUX
fumecheng-13939	34	31	be	be	AUX
fumecheng-13939	34	32	regarded	regard	VERB
fumecheng-13939	34	33	as	as	ADP
fumecheng-13939	34	34	an	an	DET
fumecheng-13939	34	35	ideal	ideal	ADJ
fumecheng-13939	34	36	particle	particle	NOUN
fumecheng-13939	34	37	or	or	CCONJ
fumecheng-13939	34	38	there	there	PRON
fumecheng-13939	34	39	are	be	VERB
fumecheng-13939	34	40	no	no	DET
fumecheng-13939	34	41	uncertain	uncertain	ADJ
fumecheng-13939	34	42	factors	factor	NOUN
fumecheng-13939	34	43	such	such	ADJ
fumecheng-13939	34	44	as	as	ADP
fumecheng-13939	34	45	faults	fault	NOUN
fumecheng-13939	34	46	and	and	CCONJ
fumecheng-13939	34	47	interference	interference	NOUN
fumecheng-13939	34	48	in	in	ADP
fumecheng-13939	34	49	each	each	DET
fumecheng-13939	34	50	single	single	ADJ
fumecheng-13939	34	51	uav	uav	PROPN
fumecheng-13939	34	52	system	system	NOUN
fumecheng-13939	34	53	,	,	PUNCT
fumecheng-13939	34	54	which	which	PRON
fumecheng-13939	34	55	is	be	AUX
fumecheng-13939	34	56	difficult	difficult	ADJ
fumecheng-13939	34	57	to	to	PART
fumecheng-13939	34	58	guarantee	guarantee	VERB
fumecheng-13939	34	59	in	in	ADP
fumecheng-13939	34	60	practical	practical	ADJ
fumecheng-13939	34	61	applications	application	NOUN
fumecheng-13939	34	62	.	.	PUNCT
fumecheng-13939	35	1	in	in	ADP
fumecheng-13939	35	2	practice	practice	NOUN
fumecheng-13939	35	3	,	,	PUNCT
fumecheng-13939	35	4	one	one	NUM
fumecheng-13939	35	5	or	or	CCONJ
fumecheng-13939	35	6	more	more	ADJ
fumecheng-13939	35	7	individuals	individual	NOUN
fumecheng-13939	35	8	in	in	ADP
fumecheng-13939	35	9	the	the	DET
fumecheng-13939	35	10	low	low	ADJ
fumecheng-13939	35	11	-	-	PUNCT
fumecheng-13939	35	12	altitude	altitude	NOUN
fumecheng-13939	35	13	uav	uav	PROPN
fumecheng-13939	35	14	swarm	swarm	NOUN
fumecheng-13939	35	15	system	system	NOUN
fumecheng-13939	35	16	inevitably	inevitably	ADV
fumecheng-13939	35	17	receive	receive	VERB
fumecheng-13939	35	18	environmental	environmental	ADJ
fumecheng-13939	35	19	disturbance	disturbance	NOUN
fumecheng-13939	35	20	or	or	CCONJ
fumecheng-13939	35	21	may	may	AUX
fumecheng-13939	35	22	have	have	VERB
fumecheng-13939	35	23	actuator	actuator	NOUN
fumecheng-13939	35	24	failures	failure	NOUN
fumecheng-13939	35	25	.	.	PUNCT
fumecheng-13939	36	1	these	these	DET
fumecheng-13939	36	2	disturbances	disturbance	NOUN
fumecheng-13939	36	3	may	may	AUX
fumecheng-13939	36	4	spread	spread	VERB
fumecheng-13939	36	5	to	to	ADP
fumecheng-13939	36	6	other	other	ADJ
fumecheng-13939	36	7	individuals	individual	NOUN
fumecheng-13939	36	8	through	through	ADP
fumecheng-13939	36	9	the	the	DET
fumecheng-13939	36	10	uav	uav	PROPN
fumecheng-13939	36	11	network	network	NOUN
fumecheng-13939	36	12	,	,	PUNCT
fumecheng-13939	36	13	and	and	CCONJ
fumecheng-13939	36	14	in	in	ADP
fumecheng-13939	36	15	severe	severe	ADJ
fumecheng-13939	36	16	cases	case	NOUN
fumecheng-13939	36	17	,	,	PUNCT
fumecheng-13939	36	18	a	a	DET
fumecheng-13939	36	19	chain	chain	NOUN
fumecheng-13939	36	20	reaction	reaction	NOUN
fumecheng-13939	36	21	will	will	AUX
fumecheng-13939	36	22	be	be	AUX
fumecheng-13939	36	23	triggered	trigger	VERB
fumecheng-13939	36	24	,	,	PUNCT
fumecheng-13939	36	25	resulting	result	VERB
fumecheng-13939	36	26	in	in	ADP
fumecheng-13939	36	27	collision	collision	NOUN
fumecheng-13939	36	28	or	or	CCONJ
fumecheng-13939	36	29	misidentification	misidentification	NOUN
fumecheng-13939	36	30	between	between	ADP
fumecheng-13939	36	31	each	each	DET
fumecheng-13939	36	32	other	other	ADJ
fumecheng-13939	36	33	,	,	PUNCT
fumecheng-13939	36	34	where	where	SCONJ
fumecheng-13939	36	35	the	the	DET
fumecheng-13939	36	36	advantages	advantage	NOUN
fumecheng-13939	36	37	of	of	ADP
fumecheng-13939	36	38	the	the	DET
fumecheng-13939	36	39	uav	uav	PROPN
fumecheng-13939	36	40	swarm	swarm	NOUN
fumecheng-13939	36	41	may	may	AUX
fumecheng-13939	36	42	become	become	VERB
fumecheng-13939	36	43	the	the	DET
fumecheng-13939	36	44	cause	cause	NOUN
fumecheng-13939	36	45	of	of	ADP
fumecheng-13939	36	46	a	a	DET
fumecheng-13939	36	47	serious	serious	ADJ
fumecheng-13939	36	48	accident	accident	NOUN
fumecheng-13939	37	1	[	[	X
fumecheng-13939	37	2	15	15	NUM
fumecheng-13939	37	3	-	-	SYM
fumecheng-13939	37	4	17	17	NUM
fumecheng-13939	37	5	]	]	PUNCT
fumecheng-13939	37	6	.	.	PUNCT
fumecheng-13939	38	1	however	however	ADV
fumecheng-13939	38	2	,	,	PUNCT
fumecheng-13939	38	3	as	as	ADP
fumecheng-13939	38	4	the	the	DET
fumecheng-13939	38	5	number	number	NOUN
fumecheng-13939	38	6	of	of	ADP
fumecheng-13939	38	7	the	the	DET
fumecheng-13939	38	8	low	low	ADJ
fumecheng-13939	38	9	-	-	PUNCT
fumecheng-13939	38	10	altitude	altitude	NOUN
fumecheng-13939	38	11	uavs	uavs	NOUN
fumecheng-13939	38	12	in	in	ADP
fumecheng-13939	38	13	the	the	DET
fumecheng-13939	38	14	formation	formation	NOUN
fumecheng-13939	38	15	increases	increase	NOUN
fumecheng-13939	38	16	,	,	PUNCT
fumecheng-13939	38	17	the	the	DET
fumecheng-13939	38	18	possibility	possibility	NOUN
fumecheng-13939	38	19	of	of	ADP
fumecheng-13939	38	20	actuator	actuator	NOUN
fumecheng-13939	38	21	failure	failure	NOUN
fumecheng-13939	38	22	will	will	AUX
fumecheng-13939	38	23	be	be	AUX
fumecheng-13939	38	24	greatly	greatly	ADV
fumecheng-13939	38	25	improved	improve	VERB
fumecheng-13939	38	26	.	.	PUNCT
fumecheng-13939	39	1	the	the	DET
fumecheng-13939	39	2	uav	uav	PROPN
fumecheng-13939	39	3	swarm	swarm	NOUN
fumecheng-13939	39	4	is	be	AUX
fumecheng-13939	39	5	essentially	essentially	ADV
fumecheng-13939	39	6	a	a	DET
fumecheng-13939	39	7	strongly	strongly	ADV
fumecheng-13939	39	8	coupled	couple	VERB
fumecheng-13939	39	9	nonlinear	nonlinear	ADJ
fumecheng-13939	39	10	multi	multi	ADJ
fumecheng-13939	39	11	-	-	ADJ
fumecheng-13939	39	12	agent	agent	ADJ
fumecheng-13939	39	13	system	system	NOUN
fumecheng-13939	39	14	,	,	PUNCT
fumecheng-13939	39	15	which	which	PRON
fumecheng-13939	39	16	makes	make	VERB
fumecheng-13939	39	17	its	its	PRON
fumecheng-13939	39	18	fault	fault	NOUN
fumecheng-13939	39	19	diagnosis	diagnosis	NOUN
fumecheng-13939	39	20	and	and	CCONJ
fumecheng-13939	39	21	faulttolerant	faulttolerant	ADJ
fumecheng-13939	39	22	control	control	NOUN
fumecheng-13939	39	23	a	a	DET
fumecheng-13939	39	24	significant	significant	ADJ
fumecheng-13939	39	25	challenge	challenge	NOUN
fumecheng-13939	39	26	.	.	PUNCT
fumecheng-13939	40	1	in	in	ADP
fumecheng-13939	40	2	recent	recent	ADJ
fumecheng-13939	40	3	years	year	NOUN
fumecheng-13939	40	4	,	,	PUNCT
fumecheng-13939	40	5	the	the	DET
fumecheng-13939	40	6	fault	fault	NOUN
fumecheng-13939	40	7	-	-	PUNCT
fumecheng-13939	40	8	tolerant	tolerant	ADJ
fumecheng-13939	40	9	control	control	NOUN
fumecheng-13939	40	10	of	of	ADP
fumecheng-13939	40	11	a	a	DET
fumecheng-13939	40	12	single	single	ADJ
fumecheng-13939	40	13	uav	uav	PROPN
fumecheng-13939	40	14	has	have	AUX
fumecheng-13939	40	15	seen	see	VERB
fumecheng-13939	40	16	great	great	ADJ
fumecheng-13939	40	17	progress	progress	NOUN
fumecheng-13939	40	18	by	by	ADP
fumecheng-13939	40	19	using	use	VERB
fumecheng-13939	40	20	passive	passive	ADJ
fumecheng-13939	40	21	or	or	CCONJ
fumecheng-13939	40	22	active	active	ADJ
fumecheng-13939	40	23	fault	fault	NOUN
fumecheng-13939	40	24	-	-	PUNCT
fumecheng-13939	40	25	tolerant	tolerant	ADJ
fumecheng-13939	40	26	technology	technology	NOUN
fumecheng-13939	40	27	.	.	PUNCT
fumecheng-13939	41	1	aiming	aim	VERB
fumecheng-13939	41	2	at	at	ADP
fumecheng-13939	41	3	the	the	DET
fumecheng-13939	41	4	actuator	actuator	NOUN
fumecheng-13939	41	5	fault	fault	NOUN
fumecheng-13939	41	6	problem	problem	NOUN
fumecheng-13939	41	7	of	of	ADP
fumecheng-13939	41	8	a	a	DET
fumecheng-13939	41	9	uav	uav	PROPN
fumecheng-13939	41	10	,	,	PUNCT
fumecheng-13939	41	11	hasanshahi	hasanshahi	PROPN
fumecheng-13939	41	12	et	et	PROPN
fumecheng-13939	41	13	al	al	PROPN
fumecheng-13939	41	14	.	.	PUNCT
fumecheng-13939	42	1	[	[	X
fumecheng-13939	42	2	18	18	NUM
fumecheng-13939	42	3	]	]	PUNCT
fumecheng-13939	42	4	designed	design	VERB
fumecheng-13939	42	5	a	a	DET
fumecheng-13939	42	6	robust	robust	ADJ
fumecheng-13939	42	7	fault	fault	NOUN
fumecheng-13939	42	8	-	-	PUNCT
fumecheng-13939	42	9	tolerant	tolerant	ADJ
fumecheng-13939	42	10	controller	controller	NOUN
fumecheng-13939	42	11	by	by	ADP
fumecheng-13939	42	12	modeling	model	VERB
fumecheng-13939	42	13	the	the	DET
fumecheng-13939	42	14	nonlinear	nonlinear	ADJ
fumecheng-13939	42	15	dynamics	dynamic	NOUN
fumecheng-13939	42	16	as	as	ADP
fumecheng-13939	42	17	an	an	DET
fumecheng-13939	42	18	lpv	lpv	NOUN
fumecheng-13939	42	19	system	system	NOUN
fumecheng-13939	42	20	and	and	CCONJ
fumecheng-13939	42	21	incorporating	incorporate	VERB
fumecheng-13939	42	22	adaptive	adaptive	ADJ
fumecheng-13939	42	23	fault	fault	NOUN
fumecheng-13939	42	24	estimation	estimation	NOUN
fumecheng-13939	42	25	,	,	PUNCT
fumecheng-13939	42	26	thereby	thereby	ADV
fumecheng-13939	42	27	achieving	achieve	VERB
fumecheng-13939	42	28	trajectory	trajectory	NOUN
fumecheng-13939	42	29	tracking	tracking	NOUN
fumecheng-13939	42	30	under	under	ADP
fumecheng-13939	42	31	faulty	faulty	ADJ
fumecheng-13939	42	32	conditions	condition	NOUN
fumecheng-13939	42	33	.	.	PUNCT
fumecheng-13939	43	1	yang	yang	PROPN
fumecheng-13939	43	2	et	et	PROPN
fumecheng-13939	43	3	al	al	PROPN
fumecheng-13939	43	4	.	.	PUNCT
fumecheng-13939	44	1	[	[	X
fumecheng-13939	44	2	19	19	NUM
fumecheng-13939	44	3	]	]	PUNCT
fumecheng-13939	44	4	combined	combine	VERB
fumecheng-13939	44	5	the	the	DET
fumecheng-13939	44	6	model	model	NOUN
fumecheng-13939	44	7	reference	reference	NOUN
fumecheng-13939	44	8	adaptive	adaptive	ADJ
fumecheng-13939	44	9	control	control	NOUN
fumecheng-13939	44	10	method	method	NOUN
fumecheng-13939	44	11	with	with	ADP
fumecheng-13939	44	12	the	the	DET
fumecheng-13939	44	13	fractional	fractional	ADJ
fumecheng-13939	44	14	order	order	NOUN
fumecheng-13939	44	15	method	method	NOUN
fumecheng-13939	44	16	to	to	PART
fumecheng-13939	44	17	offset	offset	VERB
fumecheng-13939	44	18	the	the	DET
fumecheng-13939	44	19	impact	impact	NOUN
fumecheng-13939	44	20	of	of	ADP
fumecheng-13939	44	21	actuator	actuator	NOUN
fumecheng-13939	44	22	failure	failure	NOUN
fumecheng-13939	44	23	and	and	CCONJ
fumecheng-13939	44	24	mass	mass	ADJ
fumecheng-13939	44	25	change	change	NOUN
fumecheng-13939	44	26	on	on	ADP
fumecheng-13939	44	27	the	the	DET
fumecheng-13939	44	28	uav	uav	PROPN
fumecheng-13939	44	29	.	.	PUNCT
fumecheng-13939	45	1	liu	liu	PROPN
fumecheng-13939	45	2	et	et	PROPN
fumecheng-13939	45	3	al	al	PROPN
fumecheng-13939	45	4	.	.	PUNCT
fumecheng-13939	46	1	[	[	X
fumecheng-13939	46	2	20	20	NUM
fumecheng-13939	46	3	]	]	PUNCT
fumecheng-13939	46	4	developed	develop	VERB
fumecheng-13939	46	5	a	a	DET
fumecheng-13939	46	6	fault	fault	NOUN
fumecheng-13939	46	7	-	-	PUNCT
fumecheng-13939	46	8	tolerant	tolerant	ADJ
fumecheng-13939	46	9	tracking	tracking	NOUN
fumecheng-13939	46	10	robust	robust	ADJ
fumecheng-13939	46	11	controller	controller	NOUN
fumecheng-13939	46	12	of	of	ADP
fumecheng-13939	46	13	the	the	DET
fumecheng-13939	46	14	uav	uav	PROPN
fumecheng-13939	46	15	with	with	ADP
fumecheng-13939	46	16	uncertain	uncertain	ADJ
fumecheng-13939	46	17	parameters	parameter	NOUN
fumecheng-13939	46	18	based	base	VERB
fumecheng-13939	46	19	on	on	ADP
fumecheng-13939	46	20	a	a	DET
fumecheng-13939	46	21	fixed	fix	VERB
fumecheng-13939	46	22	-	-	PUNCT
fumecheng-13939	46	23	time	time	NOUN
fumecheng-13939	46	24	fault	fault	NOUN
fumecheng-13939	46	25	-	-	PUNCT
fumecheng-13939	46	26	tolerant	tolerant	ADJ
fumecheng-13939	46	27	control	control	NOUN
fumecheng-13939	46	28	of	of	ADP
fumecheng-13939	46	29	low	low	ADJ
fumecheng-13939	46	30	-	-	PUNCT
fumecheng-13939	46	31	altitude	altitude	NOUN
fumecheng-13939	46	32	unmanned	unmanned	ADJ
fumecheng-13939	46	33	aerial	aerial	ADJ
fumecheng-13939	46	34	vehicle	vehicle	NOUN
fumecheng-13939	46	35	swarms	swarm	NOUN
fumecheng-13939	46	36	using	use	VERB
fumecheng-13939	46	37	...	...	PUNCT
fumecheng-13939	46	38	3	3	NUM
fumecheng-13939	46	39	interference	interference	NOUN
fumecheng-13939	46	40	observer	observer	NOUN
fumecheng-13939	46	41	,	,	PUNCT
fumecheng-13939	46	42	and	and	CCONJ
fumecheng-13939	46	43	the	the	DET
fumecheng-13939	46	44	proposed	propose	VERB
fumecheng-13939	46	45	control	control	NOUN
fumecheng-13939	46	46	strategy	strategy	NOUN
fumecheng-13939	46	47	is	be	AUX
fumecheng-13939	46	48	feasible	feasible	ADJ
fumecheng-13939	46	49	and	and	CCONJ
fumecheng-13939	46	50	effective	effective	ADJ
fumecheng-13939	46	51	in	in	ADP
fumecheng-13939	46	52	terms	term	NOUN
fumecheng-13939	46	53	of	of	ADP
fumecheng-13939	46	54	disturbance	disturbance	NOUN
fumecheng-13939	46	55	suppression	suppression	NOUN
fumecheng-13939	46	56	,	,	PUNCT
fumecheng-13939	46	57	fault	fault	VERB
fumecheng-13939	46	58	tolerance	tolerance	NOUN
fumecheng-13939	46	59	,	,	PUNCT
fumecheng-13939	46	60	buffeting	buffet	VERB
fumecheng-13939	46	61	suppression	suppression	NOUN
fumecheng-13939	46	62	and	and	CCONJ
fumecheng-13939	46	63	non	non	NOUN
fumecheng-13939	46	64	-	-	NOUN
fumecheng-13939	46	65	heteronormality	heteronormality	NOUN
fumecheng-13939	46	66	.	.	PUNCT
fumecheng-13939	47	1	wang	wang	PROPN
fumecheng-13939	47	2	et	et	PROPN
fumecheng-13939	47	3	al	al	PROPN
fumecheng-13939	47	4	.	.	PUNCT
fumecheng-13939	48	1	[	[	X
fumecheng-13939	48	2	21	21	NUM
fumecheng-13939	48	3	]	]	PUNCT
fumecheng-13939	48	4	developed	develop	VERB
fumecheng-13939	48	5	a	a	DET
fumecheng-13939	48	6	robust	robust	ADJ
fumecheng-13939	48	7	fault	fault	NOUN
fumecheng-13939	48	8	-	-	PUNCT
fumecheng-13939	48	9	tolerant	tolerant	ADJ
fumecheng-13939	48	10	controller	controller	NOUN
fumecheng-13939	48	11	according	accord	VERB
fumecheng-13939	48	12	to	to	ADP
fumecheng-13939	48	13	the	the	DET
fumecheng-13939	48	14	hierarchical	hierarchical	ADJ
fumecheng-13939	48	15	distributed	distribute	VERB
fumecheng-13939	48	16	comprehensive	comprehensive	ADJ
fumecheng-13939	48	17	theory	theory	NOUN
fumecheng-13939	48	18	,	,	PUNCT
fumecheng-13939	48	19	aiming	aim	VERB
fumecheng-13939	48	20	at	at	ADP
fumecheng-13939	48	21	the	the	DET
fumecheng-13939	48	22	possible	possible	ADJ
fumecheng-13939	48	23	external	external	ADJ
fumecheng-13939	48	24	disturbance	disturbance	NOUN
fumecheng-13939	48	25	,	,	PUNCT
fumecheng-13939	48	26	actuator	actuator	NOUN
fumecheng-13939	48	27	failure	failure	NOUN
fumecheng-13939	48	28	and	and	CCONJ
fumecheng-13939	48	29	wireless	wireless	ADJ
fumecheng-13939	48	30	network	network	NOUN
fumecheng-13939	48	31	-	-	PUNCT
fumecheng-13939	48	32	associated	associate	VERB
fumecheng-13939	48	33	failure	failure	NOUN
fumecheng-13939	48	34	during	during	ADP
fumecheng-13939	48	35	uav	uav	PROPN
fumecheng-13939	48	36	operation	operation	NOUN
fumecheng-13939	48	37	.	.	PUNCT
fumecheng-13939	49	1	liu	liu	PROPN
fumecheng-13939	49	2	et	et	PROPN
fumecheng-13939	49	3	al	al	PROPN
fumecheng-13939	49	4	.	.	PUNCT
fumecheng-13939	50	1	[	[	X
fumecheng-13939	50	2	22	22	NUM
fumecheng-13939	50	3	]	]	PUNCT
fumecheng-13939	50	4	presented	present	VERB
fumecheng-13939	50	5	a	a	DET
fumecheng-13939	50	6	fault	fault	NOUN
fumecheng-13939	50	7	-	-	PUNCT
fumecheng-13939	50	8	tolerant	tolerant	ADJ
fumecheng-13939	50	9	control	control	NOUN
fumecheng-13939	50	10	scheme	scheme	NOUN
fumecheng-13939	50	11	based	base	VERB
fumecheng-13939	50	12	on	on	ADP
fumecheng-13939	50	13	neural	neural	ADJ
fumecheng-13939	50	14	networks	network	NOUN
fumecheng-13939	50	15	by	by	ADP
fumecheng-13939	50	16	taking	take	VERB
fumecheng-13939	50	17	advantage	advantage	NOUN
fumecheng-13939	50	18	of	of	ADP
fumecheng-13939	50	19	the	the	DET
fumecheng-13939	50	20	strong	strong	ADJ
fumecheng-13939	50	21	approximation	approximation	NOUN
fumecheng-13939	50	22	of	of	ADP
fumecheng-13939	50	23	radial	radial	ADJ
fumecheng-13939	50	24	basis	basis	NOUN
fumecheng-13939	50	25	function	function	NOUN
fumecheng-13939	50	26	neural	neural	ADJ
fumecheng-13939	50	27	networks	network	NOUN
fumecheng-13939	50	28	to	to	PART
fumecheng-13939	50	29	compensate	compensate	VERB
fumecheng-13939	50	30	for	for	ADP
fumecheng-13939	50	31	the	the	DET
fumecheng-13939	50	32	effects	effect	NOUN
fumecheng-13939	50	33	of	of	ADP
fumecheng-13939	50	34	parameter	parameter	NOUN
fumecheng-13939	50	35	uncertainties	uncertainty	NOUN
fumecheng-13939	50	36	,	,	PUNCT
fumecheng-13939	50	37	external	external	ADJ
fumecheng-13939	50	38	disturbances	disturbance	NOUN
fumecheng-13939	50	39	,	,	PUNCT
fumecheng-13939	50	40	and	and	CCONJ
fumecheng-13939	50	41	actuator	actuator	NOUN
fumecheng-13939	50	42	faults	fault	NOUN
fumecheng-13939	50	43	.	.	PUNCT
fumecheng-13939	51	1	however	however	ADV
fumecheng-13939	51	2	,	,	PUNCT
fumecheng-13939	51	3	the	the	DET
fumecheng-13939	51	4	above	above	ADJ
fumecheng-13939	51	5	studies	study	NOUN
fumecheng-13939	51	6	are	be	AUX
fumecheng-13939	51	7	all	all	PRON
fumecheng-13939	51	8	aimed	aim	VERB
fumecheng-13939	51	9	at	at	ADP
fumecheng-13939	51	10	the	the	DET
fumecheng-13939	51	11	failure	failure	NOUN
fumecheng-13939	51	12	of	of	ADP
fumecheng-13939	51	13	a	a	DET
fumecheng-13939	51	14	single	single	ADJ
fumecheng-13939	51	15	uav	uav	PROPN
fumecheng-13939	51	16	,	,	PUNCT
fumecheng-13939	51	17	which	which	PRON
fumecheng-13939	51	18	is	be	AUX
fumecheng-13939	51	19	insufficient	insufficient	ADJ
fumecheng-13939	51	20	for	for	ADP
fumecheng-13939	51	21	the	the	DET
fumecheng-13939	51	22	overall	overall	ADJ
fumecheng-13939	51	23	risk	risk	NOUN
fumecheng-13939	51	24	control	control	NOUN
fumecheng-13939	51	25	of	of	ADP
fumecheng-13939	51	26	modern	modern	ADJ
fumecheng-13939	51	27	large	large	ADJ
fumecheng-13939	51	28	-	-	PUNCT
fumecheng-13939	51	29	scale	scale	NOUN
fumecheng-13939	51	30	uav	uav	PROPN
fumecheng-13939	51	31	formations	formation	NOUN
fumecheng-13939	51	32	.	.	PUNCT
fumecheng-13939	52	1	in	in	ADP
fumecheng-13939	52	2	recent	recent	ADJ
fumecheng-13939	52	3	years	year	NOUN
fumecheng-13939	52	4	,	,	PUNCT
fumecheng-13939	52	5	some	some	DET
fumecheng-13939	52	6	scholars	scholar	NOUN
fumecheng-13939	52	7	have	have	AUX
fumecheng-13939	52	8	conducted	conduct	VERB
fumecheng-13939	52	9	a	a	DET
fumecheng-13939	52	10	preliminary	preliminary	ADJ
fumecheng-13939	52	11	exploration	exploration	NOUN
fumecheng-13939	52	12	on	on	ADP
fumecheng-13939	52	13	the	the	DET
fumecheng-13939	52	14	fault	fault	NOUN
fumecheng-13939	52	15	-	-	PUNCT
fumecheng-13939	52	16	tolerant	tolerant	ADJ
fumecheng-13939	52	17	control	control	NOUN
fumecheng-13939	52	18	of	of	ADP
fumecheng-13939	52	19	uav	uav	PROPN
fumecheng-13939	52	20	swarms	swarm	NOUN
fumecheng-13939	52	21	.	.	PUNCT
fumecheng-13939	53	1	yu	yu	PROPN
fumecheng-13939	53	2	et	et	PROPN
fumecheng-13939	53	3	al	al	PROPN
fumecheng-13939	53	4	.	.	PUNCT
fumecheng-13939	54	1	[	[	X
fumecheng-13939	54	2	23	23	NUM
fumecheng-13939	54	3	]	]	PUNCT
fumecheng-13939	54	4	used	use	VERB
fumecheng-13939	54	5	sliding	slide	VERB
fumecheng-13939	54	6	mode	mode	NOUN
fumecheng-13939	54	7	control	control	NOUN
fumecheng-13939	54	8	and	and	CCONJ
fumecheng-13939	54	9	model	model	NOUN
fumecheng-13939	54	10	reference	reference	PROPN
fumecheng-13939	54	11	adaptive	adaptive	ADJ
fumecheng-13939	54	12	control	control	NOUN
fumecheng-13939	54	13	to	to	PART
fumecheng-13939	54	14	compensate	compensate	VERB
fumecheng-13939	54	15	for	for	ADP
fumecheng-13939	54	16	the	the	DET
fumecheng-13939	54	17	impact	impact	NOUN
fumecheng-13939	54	18	of	of	ADP
fumecheng-13939	54	19	actuator	actuator	NOUN
fumecheng-13939	54	20	faults	fault	NOUN
fumecheng-13939	54	21	on	on	ADP
fumecheng-13939	54	22	uav	uav	PROPN
fumecheng-13939	54	23	swarms	swarm	NOUN
fumecheng-13939	54	24	,	,	PUNCT
fumecheng-13939	54	25	but	but	CCONJ
fumecheng-13939	54	26	it	it	PRON
fumecheng-13939	54	27	belongs	belong	VERB
fumecheng-13939	54	28	to	to	ADP
fumecheng-13939	54	29	passive	passive	ADJ
fumecheng-13939	54	30	fault	fault	NOUN
fumecheng-13939	54	31	-	-	PUNCT
fumecheng-13939	54	32	tolerant	tolerant	ADJ
fumecheng-13939	54	33	control	control	NOUN
fumecheng-13939	54	34	and	and	CCONJ
fumecheng-13939	54	35	lacks	lack	VERB
fumecheng-13939	54	36	fault	fault	VERB
fumecheng-13939	54	37	diagnosis	diagnosis	NOUN
fumecheng-13939	54	38	.	.	PUNCT
fumecheng-13939	55	1	reppa	reppa	NOUN
fumecheng-13939	55	2	et	et	PROPN
fumecheng-13939	55	3	al	al	PROPN
fumecheng-13939	55	4	.	.	PUNCT
fumecheng-13939	56	1	[	[	X
fumecheng-13939	56	2	24	24	NUM
fumecheng-13939	56	3	]	]	PUNCT
fumecheng-13939	56	4	established	establish	VERB
fumecheng-13939	56	5	the	the	DET
fumecheng-13939	56	6	diagnosis	diagnosis	NOUN
fumecheng-13939	56	7	and	and	CCONJ
fumecheng-13939	56	8	isolation	isolation	NOUN
fumecheng-13939	56	9	of	of	ADP
fumecheng-13939	56	10	uav	uav	PROPN
fumecheng-13939	56	11	swarm	swarm	NOUN
fumecheng-13939	56	12	faults	fault	NOUN
fumecheng-13939	56	13	through	through	ADP
fumecheng-13939	56	14	multi	multi	ADJ
fumecheng-13939	56	15	-	-	ADJ
fumecheng-13939	56	16	sensor	sensor	ADJ
fumecheng-13939	56	17	fusion	fusion	NOUN
fumecheng-13939	56	18	and	and	CCONJ
fumecheng-13939	56	19	applied	apply	VERB
fumecheng-13939	56	20	a	a	DET
fumecheng-13939	56	21	global	global	ADJ
fumecheng-13939	56	22	decision	decision	NOUN
fumecheng-13939	56	23	logic	logic	NOUN
fumecheng-13939	56	24	,	,	PUNCT
fumecheng-13939	56	25	but	but	CCONJ
fumecheng-13939	56	26	failed	fail	VERB
fumecheng-13939	56	27	to	to	PART
fumecheng-13939	56	28	compensate	compensate	VERB
fumecheng-13939	56	29	for	for	ADP
fumecheng-13939	56	30	the	the	DET
fumecheng-13939	56	31	faults	fault	NOUN
fumecheng-13939	56	32	.	.	PUNCT
fumecheng-13939	57	1	from	from	ADP
fumecheng-13939	57	2	the	the	DET
fumecheng-13939	57	3	above	above	ADJ
fumecheng-13939	57	4	analysis	analysis	NOUN
fumecheng-13939	57	5	,	,	PUNCT
fumecheng-13939	57	6	it	it	PRON
fumecheng-13939	57	7	can	can	AUX
fumecheng-13939	57	8	be	be	AUX
fumecheng-13939	57	9	learned	learn	VERB
fumecheng-13939	57	10	that	that	SCONJ
fumecheng-13939	57	11	the	the	DET
fumecheng-13939	57	12	research	research	NOUN
fumecheng-13939	57	13	on	on	ADP
fumecheng-13939	57	14	fault	fault	NOUN
fumecheng-13939	57	15	diagnosis	diagnosis	NOUN
fumecheng-13939	57	16	and	and	CCONJ
fumecheng-13939	57	17	faulttolerant	faulttolerant	ADJ
fumecheng-13939	57	18	control	control	NOUN
fumecheng-13939	57	19	of	of	ADP
fumecheng-13939	57	20	a	a	DET
fumecheng-13939	57	21	single	single	ADJ
fumecheng-13939	57	22	uav	uav	PROPN
fumecheng-13939	57	23	has	have	AUX
fumecheng-13939	57	24	led	lead	VERB
fumecheng-13939	57	25	to	to	ADP
fumecheng-13939	57	26	many	many	ADJ
fumecheng-13939	57	27	important	important	ADJ
fumecheng-13939	57	28	achievements	achievement	NOUN
fumecheng-13939	57	29	,	,	PUNCT
fumecheng-13939	57	30	but	but	CCONJ
fumecheng-13939	57	31	there	there	PRON
fumecheng-13939	57	32	is	be	VERB
fumecheng-13939	57	33	still	still	ADV
fumecheng-13939	57	34	an	an	DET
fumecheng-13939	57	35	open	open	ADJ
fumecheng-13939	57	36	challenge	challenge	NOUN
fumecheng-13939	57	37	for	for	ADP
fumecheng-13939	57	38	the	the	DET
fumecheng-13939	57	39	research	research	NOUN
fumecheng-13939	57	40	of	of	ADP
fumecheng-13939	57	41	low	low	ADJ
fumecheng-13939	57	42	-	-	PUNCT
fumecheng-13939	57	43	altitude	altitude	NOUN
fumecheng-13939	57	44	uav	uav	PROPN
fumecheng-13939	57	45	swarms	swarm	NOUN
fumecheng-13939	57	46	.	.	PUNCT
fumecheng-13939	58	1	the	the	DET
fumecheng-13939	58	2	fault	fault	NOUN
fumecheng-13939	58	3	-	-	PUNCT
fumecheng-13939	58	4	tolerant	tolerant	ADJ
fumecheng-13939	58	5	control	control	NOUN
fumecheng-13939	58	6	difference	difference	NOUN
fumecheng-13939	58	7	between	between	ADP
fumecheng-13939	58	8	a	a	DET
fumecheng-13939	58	9	single	single	ADJ
fumecheng-13939	58	10	uav	uav	PROPN
fumecheng-13939	58	11	and	and	CCONJ
fumecheng-13939	58	12	uav	uav	PROPN
fumecheng-13939	58	13	swarms	swarm	NOUN
fumecheng-13939	58	14	can	can	AUX
fumecheng-13939	58	15	be	be	AUX
fumecheng-13939	58	16	summarized	summarize	VERB
fumecheng-13939	58	17	as	as	SCONJ
fumecheng-13939	58	18	follows	follow	VERB
fumecheng-13939	58	19	:	:	PUNCT
fumecheng-13939	58	20	a	a	X
fumecheng-13939	58	21	)	)	PUNCT
fumecheng-13939	58	22	the	the	DET
fumecheng-13939	58	23	controller	controller	NOUN
fumecheng-13939	58	24	of	of	ADP
fumecheng-13939	58	25	the	the	DET
fumecheng-13939	58	26	uav	uav	PROPN
fumecheng-13939	58	27	swarm	swarm	NOUN
fumecheng-13939	58	28	consists	consist	VERB
fumecheng-13939	58	29	of	of	ADP
fumecheng-13939	58	30	an	an	DET
fumecheng-13939	58	31	outer	outer	ADJ
fumecheng-13939	58	32	-	-	PUNCT
fumecheng-13939	58	33	loop	loop	NOUN
fumecheng-13939	58	34	group	group	NOUN
fumecheng-13939	58	35	controller	controller	NOUN
fumecheng-13939	58	36	and	and	CCONJ
fumecheng-13939	58	37	an	an	DET
fumecheng-13939	58	38	inner	inner	ADJ
fumecheng-13939	58	39	-	-	PUNCT
fumecheng-13939	58	40	loop	loop	NOUN
fumecheng-13939	58	41	individual	individual	ADJ
fumecheng-13939	58	42	uav	uav	PROPN
fumecheng-13939	58	43	controller	controller	PROPN
fumecheng-13939	58	44	.	.	PUNCT
fumecheng-13939	59	1	the	the	DET
fumecheng-13939	59	2	output	output	NOUN
fumecheng-13939	59	3	of	of	ADP
fumecheng-13939	59	4	the	the	DET
fumecheng-13939	59	5	inner	inner	ADJ
fumecheng-13939	59	6	-	-	PUNCT
fumecheng-13939	59	7	loop	loop	NOUN
fumecheng-13939	59	8	individual	individual	ADJ
fumecheng-13939	59	9	uav	uav	PROPN
fumecheng-13939	59	10	controller	controller	PROPN
fumecheng-13939	59	11	serves	serve	VERB
fumecheng-13939	59	12	as	as	ADP
fumecheng-13939	59	13	the	the	DET
fumecheng-13939	59	14	input	input	NOUN
fumecheng-13939	59	15	for	for	ADP
fumecheng-13939	59	16	the	the	DET
fumecheng-13939	59	17	outer	outer	ADJ
fumecheng-13939	59	18	-	-	PUNCT
fumecheng-13939	59	19	loop	loop	NOUN
fumecheng-13939	59	20	group	group	NOUN
fumecheng-13939	59	21	controller	controller	NOUN
fumecheng-13939	59	22	.	.	PUNCT
fumecheng-13939	60	1	faults	fault	NOUN
fumecheng-13939	60	2	can	can	AUX
fumecheng-13939	60	3	propagate	propagate	VERB
fumecheng-13939	60	4	through	through	ADP
fumecheng-13939	60	5	the	the	DET
fumecheng-13939	60	6	inner	inner	ADJ
fumecheng-13939	60	7	and	and	CCONJ
fumecheng-13939	60	8	outer	outer	ADJ
fumecheng-13939	60	9	control	control	NOUN
fumecheng-13939	60	10	loops	loop	NOUN
fumecheng-13939	60	11	;	;	PUNCT
fumecheng-13939	60	12	hence	hence	ADV
fumecheng-13939	60	13	,	,	PUNCT
fumecheng-13939	60	14	the	the	DET
fumecheng-13939	60	15	fault	fault	NOUN
fumecheng-13939	60	16	diagnosis	diagnosis	NOUN
fumecheng-13939	60	17	and	and	CCONJ
fumecheng-13939	60	18	fault	fault	NOUN
fumecheng-13939	60	19	-	-	PUNCT
fumecheng-13939	60	20	tolerant	tolerant	ADJ
fumecheng-13939	60	21	control	control	NOUN
fumecheng-13939	60	22	of	of	ADP
fumecheng-13939	60	23	the	the	DET
fumecheng-13939	60	24	uav	uav	PROPN
fumecheng-13939	60	25	swarm	swarm	NOUN
fumecheng-13939	60	26	must	must	AUX
fumecheng-13939	60	27	consider	consider	VERB
fumecheng-13939	60	28	not	not	PART
fumecheng-13939	60	29	only	only	ADV
fumecheng-13939	60	30	the	the	DET
fumecheng-13939	60	31	impact	impact	NOUN
fumecheng-13939	60	32	of	of	ADP
fumecheng-13939	60	33	faults	fault	NOUN
fumecheng-13939	60	34	on	on	ADP
fumecheng-13939	60	35	the	the	DET
fumecheng-13939	60	36	individual	individual	ADJ
fumecheng-13939	60	37	uav	uav	PROPN
fumecheng-13939	60	38	but	but	CCONJ
fumecheng-13939	60	39	also	also	ADV
fumecheng-13939	60	40	their	their	PRON
fumecheng-13939	60	41	effects	effect	NOUN
fumecheng-13939	60	42	on	on	ADP
fumecheng-13939	60	43	the	the	DET
fumecheng-13939	60	44	entire	entire	ADJ
fumecheng-13939	60	45	group	group	NOUN
fumecheng-13939	60	46	.	.	PUNCT
fumecheng-13939	61	1	b	b	X
fumecheng-13939	61	2	)	)	PUNCT
fumecheng-13939	61	3	in	in	ADP
fumecheng-13939	61	4	a	a	DET
fumecheng-13939	61	5	uav	uav	PROPN
fumecheng-13939	61	6	swarm	swarm	NOUN
fumecheng-13939	61	7	,	,	PUNCT
fumecheng-13939	61	8	in	in	ADP
fumecheng-13939	61	9	addition	addition	NOUN
fumecheng-13939	61	10	to	to	ADP
fumecheng-13939	61	11	individual	individual	ADJ
fumecheng-13939	61	12	uav	uav	PROPN
fumecheng-13939	61	13	malfunctions	malfunction	NOUN
fumecheng-13939	61	14	,	,	PUNCT
fumecheng-13939	61	15	there	there	PRON
fumecheng-13939	61	16	can	can	AUX
fumecheng-13939	61	17	also	also	ADV
fumecheng-13939	61	18	be	be	AUX
fumecheng-13939	61	19	communication	communication	NOUN
fumecheng-13939	61	20	failures	failure	NOUN
fumecheng-13939	61	21	between	between	ADP
fumecheng-13939	61	22	uavs	uavs	NOUN
fumecheng-13939	61	23	.	.	PUNCT
fumecheng-13939	62	1	moreover	moreover	ADV
fumecheng-13939	62	2	,	,	PUNCT
fumecheng-13939	62	3	these	these	DET
fumecheng-13939	62	4	communication	communication	NOUN
fumecheng-13939	62	5	failures	failure	NOUN
fumecheng-13939	62	6	can	can	AUX
fumecheng-13939	62	7	be	be	AUX
fumecheng-13939	62	8	amplified	amplify	VERB
fumecheng-13939	62	9	as	as	SCONJ
fumecheng-13939	62	10	information	information	NOUN
fumecheng-13939	62	11	is	be	AUX
fumecheng-13939	62	12	passed	pass	VERB
fumecheng-13939	62	13	between	between	ADP
fumecheng-13939	62	14	uavs	uavs	PROPN
fumecheng-13939	62	15	.	.	PUNCT
fumecheng-13939	63	1	therefore	therefore	ADV
fumecheng-13939	63	2	,	,	PUNCT
fumecheng-13939	63	3	fault	fault	VERB
fumecheng-13939	63	4	diagnosis	diagnosis	NOUN
fumecheng-13939	63	5	and	and	CCONJ
fumecheng-13939	63	6	fault	fault	NOUN
fumecheng-13939	63	7	-	-	PUNCT
fumecheng-13939	63	8	tolerant	tolerant	ADJ
fumecheng-13939	63	9	control	control	NOUN
fumecheng-13939	63	10	require	require	VERB
fumecheng-13939	63	11	the	the	DET
fumecheng-13939	63	12	establishment	establishment	NOUN
fumecheng-13939	63	13	of	of	ADP
fumecheng-13939	63	14	a	a	DET
fumecheng-13939	63	15	global	global	ADJ
fumecheng-13939	63	16	error	error	NOUN
fumecheng-13939	63	17	system	system	NOUN
fumecheng-13939	63	18	for	for	ADP
fumecheng-13939	63	19	the	the	DET
fumecheng-13939	63	20	uav	uav	PROPN
fumecheng-13939	63	21	swarm	swarm	NOUN
fumecheng-13939	63	22	to	to	PART
fumecheng-13939	63	23	estimate	estimate	VERB
fumecheng-13939	63	24	and	and	CCONJ
fumecheng-13939	63	25	compensate	compensate	VERB
fumecheng-13939	63	26	for	for	ADP
fumecheng-13939	63	27	these	these	DET
fumecheng-13939	63	28	faults	fault	NOUN
fumecheng-13939	63	29	.	.	PUNCT
fumecheng-13939	64	1	to	to	PART
fumecheng-13939	64	2	address	address	VERB
fumecheng-13939	64	3	the	the	DET
fumecheng-13939	64	4	two	two	NUM
fumecheng-13939	64	5	key	key	ADJ
fumecheng-13939	64	6	research	research	NOUN
fumecheng-13939	64	7	gaps	gap	NOUN
fumecheng-13939	64	8	for	for	ADP
fumecheng-13939	64	9	low	low	ADJ
fumecheng-13939	64	10	-	-	PUNCT
fumecheng-13939	64	11	altitude	altitude	NOUN
fumecheng-13939	64	12	drone	drone	NOUN
fumecheng-13939	64	13	swarms	swarm	NOUN
fumecheng-13939	64	14	mentioned	mention	VERB
fumecheng-13939	64	15	above	above	ADV
fumecheng-13939	64	16	,	,	PUNCT
fumecheng-13939	64	17	the	the	DET
fumecheng-13939	64	18	novelty	novelty	NOUN
fumecheng-13939	64	19	of	of	ADP
fumecheng-13939	64	20	our	our	PRON
fumecheng-13939	64	21	work	work	NOUN
fumecheng-13939	64	22	lies	lie	VERB
fumecheng-13939	64	23	in	in	ADP
fumecheng-13939	64	24	:	:	PUNCT
fumecheng-13939	64	25	1	1	X
fumecheng-13939	64	26	)	)	PUNCT
fumecheng-13939	64	27	the	the	DET
fumecheng-13939	64	28	fault	fault	NOUN
fumecheng-13939	64	29	-	-	PUNCT
fumecheng-13939	64	30	tolerant	tolerant	ADJ
fumecheng-13939	64	31	control	control	NOUN
fumecheng-13939	64	32	method	method	NOUN
fumecheng-13939	64	33	with	with	ADP
fumecheng-13939	64	34	active	active	ADJ
fumecheng-13939	64	35	compensation	compensation	NOUN
fumecheng-13939	64	36	that	that	PRON
fumecheng-13939	64	37	enhances	enhance	VERB
fumecheng-13939	64	38	formation	formation	NOUN
fumecheng-13939	64	39	stability	stability	NOUN
fumecheng-13939	64	40	in	in	ADP
fumecheng-13939	64	41	the	the	DET
fumecheng-13939	64	42	event	event	NOUN
fumecheng-13939	64	43	of	of	ADP
fumecheng-13939	64	44	actuator	actuator	NOUN
fumecheng-13939	64	45	failure	failure	NOUN
fumecheng-13939	64	46	.	.	PUNCT
fumecheng-13939	65	1	2	2	X
fumecheng-13939	65	2	)	)	PUNCT
fumecheng-13939	65	3	the	the	DET
fumecheng-13939	65	4	designed	design	VERB
fumecheng-13939	65	5	reduced	reduce	VERB
fumecheng-13939	65	6	-	-	PUNCT
fumecheng-13939	65	7	order	order	NOUN
fumecheng-13939	65	8	sliding	slide	VERB
fumecheng-13939	65	9	mode	mode	NOUN
fumecheng-13939	65	10	observer	observer	NOUN
fumecheng-13939	65	11	for	for	ADP
fumecheng-13939	65	12	fault	fault	NOUN
fumecheng-13939	65	13	estimation	estimation	NOUN
fumecheng-13939	65	14	that	that	PRON
fumecheng-13939	65	15	enables	enable	VERB
fumecheng-13939	65	16	more	more	ADV
fumecheng-13939	65	17	efficient	efficient	ADJ
fumecheng-13939	65	18	fault	fault	NOUN
fumecheng-13939	65	19	detection	detection	NOUN
fumecheng-13939	65	20	and	and	CCONJ
fumecheng-13939	65	21	thus	thus	ADV
fumecheng-13939	65	22	enhances	enhance	VERB
fumecheng-13939	65	23	system	system	NOUN
fumecheng-13939	65	24	stability	stability	NOUN
fumecheng-13939	65	25	.	.	PUNCT
fumecheng-13939	66	1	3	3	X
fumecheng-13939	66	2	)	)	PUNCT
fumecheng-13939	66	3	the	the	DET
fumecheng-13939	66	4	framework	framework	NOUN
fumecheng-13939	66	5	capable	capable	ADJ
fumecheng-13939	66	6	of	of	ADP
fumecheng-13939	66	7	handling	handle	VERB
fumecheng-13939	66	8	effectively	effectively	ADV
fumecheng-13939	66	9	multiple	multiple	ADJ
fumecheng-13939	66	10	actuator	actuator	NOUN
fumecheng-13939	66	11	failures	failure	NOUN
fumecheng-13939	66	12	and	and	CCONJ
fumecheng-13939	66	13	maintaining	maintain	VERB
fumecheng-13939	66	14	swarm	swarm	NOUN
fumecheng-13939	66	15	formation	formation	NOUN
fumecheng-13939	66	16	stability	stability	NOUN
fumecheng-13939	66	17	under	under	ADP
fumecheng-13939	66	18	disturbances	disturbance	NOUN
fumecheng-13939	66	19	.	.	PUNCT
fumecheng-13939	67	1	the	the	DET
fumecheng-13939	67	2	rest	rest	NOUN
fumecheng-13939	67	3	of	of	ADP
fumecheng-13939	67	4	this	this	DET
fumecheng-13939	67	5	study	study	NOUN
fumecheng-13939	67	6	is	be	AUX
fumecheng-13939	67	7	organized	organize	VERB
fumecheng-13939	67	8	as	as	SCONJ
fumecheng-13939	67	9	follows	follow	VERB
fumecheng-13939	67	10	.	.	PUNCT
fumecheng-13939	68	1	in	in	ADP
fumecheng-13939	68	2	section	section	NOUN
fumecheng-13939	68	3	2	2	NUM
fumecheng-13939	68	4	,	,	PUNCT
fumecheng-13939	68	5	the	the	DET
fumecheng-13939	68	6	position	position	NOUN
fumecheng-13939	68	7	relationship	relationship	NOUN
fumecheng-13939	68	8	of	of	ADP
fumecheng-13939	68	9	adjacent	adjacent	ADJ
fumecheng-13939	68	10	wingmen	wingman	NOUN
fumecheng-13939	68	11	in	in	ADP
fumecheng-13939	68	12	the	the	DET
fumecheng-13939	68	13	low	low	ADJ
fumecheng-13939	68	14	-	-	PUNCT
fumecheng-13939	68	15	altitude	altitude	NOUN
fumecheng-13939	68	16	uav	uav	PROPN
fumecheng-13939	68	17	swarm	swarm	NOUN
fumecheng-13939	68	18	was	be	AUX
fumecheng-13939	68	19	analyzed	analyze	VERB
fumecheng-13939	68	20	,	,	PUNCT
fumecheng-13939	68	21	and	and	CCONJ
fumecheng-13939	68	22	the	the	DET
fumecheng-13939	68	23	formation	formation	NOUN
fumecheng-13939	68	24	model	model	NOUN
fumecheng-13939	68	25	of	of	ADP
fumecheng-13939	68	26	the	the	DET
fumecheng-13939	68	27	inner	inner	ADJ
fumecheng-13939	68	28	and	and	CCONJ
fumecheng-13939	68	29	outer	outer	ADJ
fumecheng-13939	68	30	-	-	PUNCT
fumecheng-13939	68	31	loop	loop	NOUN
fumecheng-13939	68	32	uav	uav	PROPN
fumecheng-13939	68	33	swarm	swarm	NOUN
fumecheng-13939	68	34	under	under	ADP
fumecheng-13939	68	35	the	the	DET
fumecheng-13939	68	36	wingman	wingman	NOUN
fumecheng-13939	68	37	strategy	strategy	NOUN
fumecheng-13939	68	38	was	be	AUX
fumecheng-13939	68	39	established	establish	VERB
fumecheng-13939	68	40	.	.	PUNCT
fumecheng-13939	69	1	in	in	ADP
fumecheng-13939	69	2	section	section	NOUN
fumecheng-13939	69	3	3	3	NUM
fumecheng-13939	69	4	,	,	PUNCT
fumecheng-13939	69	5	a	a	DET
fumecheng-13939	69	6	sliding	slide	VERB
fumecheng-13939	69	7	mode	mode	NOUN
fumecheng-13939	69	8	observer	observer	NOUN
fumecheng-13939	69	9	with	with	ADP
fumecheng-13939	69	10	reduced	reduce	VERB
fumecheng-13939	69	11	order	order	NOUN
fumecheng-13939	69	12	was	be	AUX
fumecheng-13939	69	13	designed	design	VERB
fumecheng-13939	69	14	for	for	ADP
fumecheng-13939	69	15	fault	fault	NOUN
fumecheng-13939	69	16	diagnosis	diagnosis	NOUN
fumecheng-13939	69	17	,	,	PUNCT
fumecheng-13939	69	18	and	and	CCONJ
fumecheng-13939	69	19	its	its	PRON
fumecheng-13939	69	20	reachability	reachability	NOUN
fumecheng-13939	69	21	and	and	CCONJ
fumecheng-13939	69	22	stability	stability	NOUN
fumecheng-13939	69	23	were	be	AUX
fumecheng-13939	69	24	proved	prove	VERB
fumecheng-13939	69	25	.	.	PUNCT
fumecheng-13939	70	1	in	in	ADP
fumecheng-13939	70	2	section	section	NOUN
fumecheng-13939	70	3	4	4	NUM
fumecheng-13939	70	4	,	,	PUNCT
fumecheng-13939	70	5	the	the	DET
fumecheng-13939	70	6	estimated	estimate	VERB
fumecheng-13939	70	7	faults	fault	NOUN
fumecheng-13939	70	8	and	and	CCONJ
fumecheng-13939	70	9	disturbances	disturbance	NOUN
fumecheng-13939	70	10	were	be	AUX
fumecheng-13939	70	11	solved	solve	VERB
fumecheng-13939	70	12	by	by	ADP
fumecheng-13939	70	13	using	use	VERB
fumecheng-13939	70	14	the	the	DET
fumecheng-13939	70	15	sliding	slide	VERB
fumecheng-13939	70	16	mode	mode	NOUN
fumecheng-13939	70	17	observer	observer	NOUN
fumecheng-13939	70	18	,	,	PUNCT
fumecheng-13939	70	19	and	and	CCONJ
fumecheng-13939	70	20	active	active	ADJ
fumecheng-13939	70	21	fault	fault	NOUN
fumecheng-13939	70	22	-	-	PUNCT
fumecheng-13939	70	23	tolerant	tolerant	ADJ
fumecheng-13939	70	24	control	control	NOUN
fumecheng-13939	70	25	was	be	AUX
fumecheng-13939	70	26	carried	carry	VERB
fumecheng-13939	70	27	out	out	ADP
fumecheng-13939	70	28	to	to	PART
fumecheng-13939	70	29	realize	realize	VERB
fumecheng-13939	70	30	the	the	DET
fumecheng-13939	70	31	trajectory	trajectory	NOUN
fumecheng-13939	70	32	tracking	tracking	NOUN
fumecheng-13939	70	33	in	in	ADP
fumecheng-13939	70	34	the	the	DET
fumecheng-13939	70	35	case	case	NOUN
fumecheng-13939	70	36	of	of	ADP
fumecheng-13939	70	37	actuator	actuator	NOUN
fumecheng-13939	70	38	faults	fault	NOUN
fumecheng-13939	70	39	.	.	PUNCT
fumecheng-13939	71	1	in	in	ADP
fumecheng-13939	71	2	section	section	NOUN
fumecheng-13939	71	3	5	5	NUM
fumecheng-13939	71	4	,	,	PUNCT
fumecheng-13939	71	5	the	the	DET
fumecheng-13939	71	6	effectiveness	effectiveness	NOUN
fumecheng-13939	71	7	of	of	ADP
fumecheng-13939	71	8	the	the	DET
fumecheng-13939	71	9	developed	develop	VERB
fumecheng-13939	71	10	method	method	NOUN
fumecheng-13939	71	11	was	be	AUX
fumecheng-13939	71	12	verified	verify	VERB
fumecheng-13939	71	13	by	by	ADP
fumecheng-13939	71	14	experiments	experiment	NOUN
fumecheng-13939	71	15	.	.	PUNCT
fumecheng-13939	72	1	section	section	NOUN
fumecheng-13939	72	2	6	6	NUM
fumecheng-13939	72	3	summarizes	summarize	NOUN
fumecheng-13939	72	4	the	the	DET
fumecheng-13939	72	5	content	content	NOUN
fumecheng-13939	72	6	of	of	ADP
fumecheng-13939	72	7	the	the	DET
fumecheng-13939	72	8	study	study	NOUN
fumecheng-13939	72	9	.	.	PUNCT
fumecheng-13939	73	1	4	4	NUM
fumecheng-13939	73	2	l.	l.	PROPN
fumecheng-13939	73	3	xu	xu	PROPN
fumecheng-13939	73	4	2	2	X
fumecheng-13939	73	5	.	.	PUNCT
fumecheng-13939	74	1	construction	construction	NOUN
fumecheng-13939	74	2	of	of	ADP
fumecheng-13939	74	3	the	the	DET
fumecheng-13939	74	4	uav	uav	PROPN
fumecheng-13939	74	5	cluster	cluster	NOUN
fumecheng-13939	74	6	model	model	NOUN
fumecheng-13939	74	7	2.1	2.1	NUM
fumecheng-13939	74	8	construction	construction	NOUN
fumecheng-13939	74	9	of	of	ADP
fumecheng-13939	74	10	a	a	DET
fumecheng-13939	74	11	single	single	ADJ
fumecheng-13939	74	12	uav	uav	PROPN
fumecheng-13939	74	13	motion	motion	NOUN
fumecheng-13939	74	14	model	model	NOUN
fumecheng-13939	74	15	assuming	assume	VERB
fumecheng-13939	74	16	the	the	DET
fumecheng-13939	74	17	earth	earth	NOUN
fumecheng-13939	74	18	's	's	PART
fumecheng-13939	74	19	curvature	curvature	NOUN
fumecheng-13939	74	20	is	be	AUX
fumecheng-13939	74	21	neglected	neglect	VERB
fumecheng-13939	74	22	and	and	CCONJ
fumecheng-13939	74	23	the	the	DET
fumecheng-13939	74	24	ground	ground	NOUN
fumecheng-13939	74	25	coordinate	coordinate	NOUN
fumecheng-13939	74	26	system	system	NOUN
fumecheng-13939	74	27	is	be	AUX
fumecheng-13939	74	28	adopted	adopt	VERB
fumecheng-13939	74	29	as	as	ADP
fumecheng-13939	74	30	the	the	DET
fumecheng-13939	74	31	inertial	inertial	ADJ
fumecheng-13939	74	32	coordinate	coordinate	NOUN
fumecheng-13939	74	33	system	system	NOUN
fumecheng-13939	74	34	,	,	PUNCT
fumecheng-13939	74	35	the	the	DET
fumecheng-13939	74	36	definitions	definition	NOUN
fumecheng-13939	74	37	of	of	ADP
fumecheng-13939	74	38	the	the	DET
fumecheng-13939	74	39	ground	ground	NOUN
fumecheng-13939	74	40	reference	reference	NOUN
fumecheng-13939	74	41	frame	frame	NOUN
fumecheng-13939	74	42	and	and	CCONJ
fumecheng-13939	74	43	the	the	DET
fumecheng-13939	74	44	body	body	NOUN
fumecheng-13939	74	45	reference	reference	NOUN
fumecheng-13939	74	46	frame	frame	NOUN
fumecheng-13939	74	47	are	be	AUX
fumecheng-13939	74	48	illustrated	illustrate	VERB
fumecheng-13939	74	49	in	in	ADP
fumecheng-13939	74	50	fig	fig	NOUN
fumecheng-13939	74	51	.	.	PUNCT
fumecheng-13939	75	1	1	1	NUM
fumecheng-13939	75	2	,	,	PUNCT
fumecheng-13939	75	3	with	with	ADP
fumecheng-13939	75	4	specific	specific	ADJ
fumecheng-13939	75	5	details	detail	NOUN
fumecheng-13939	75	6	as	as	SCONJ
fumecheng-13939	75	7	follows	follow	VERB
fumecheng-13939	75	8	:	:	PUNCT
fumecheng-13939	75	9	(	(	PUNCT
fumecheng-13939	75	10	1	1	X
fumecheng-13939	75	11	)	)	PUNCT
fumecheng-13939	75	12	ground	ground	NOUN
fumecheng-13939	75	13	coordinate	coordinate	NOUN
fumecheng-13939	75	14	system	system	NOUN
fumecheng-13939	75	15	sg	sg	PROPN
fumecheng-13939	75	16	-	-	PUNCT
fumecheng-13939	75	17	oxyz	oxyz	PROPN
fumecheng-13939	75	18	:	:	PUNCT
fumecheng-13939	75	19	the	the	DET
fumecheng-13939	75	20	origin	origin	NOUN
fumecheng-13939	75	21	o	o	NOUN
fumecheng-13939	75	22	is	be	AUX
fumecheng-13939	75	23	a	a	DET
fumecheng-13939	75	24	selected	select	VERB
fumecheng-13939	75	25	point	point	NOUN
fumecheng-13939	75	26	on	on	ADP
fumecheng-13939	75	27	the	the	DET
fumecheng-13939	75	28	ground	ground	NOUN
fumecheng-13939	75	29	.	.	PUNCT
fumecheng-13939	76	1	the	the	DET
fumecheng-13939	76	2	x	x	ADJ
fumecheng-13939	76	3	-	-	ADJ
fumecheng-13939	76	4	axis	axis	ADJ
fumecheng-13939	76	5	lies	lie	VERB
fumecheng-13939	76	6	in	in	ADP
fumecheng-13939	76	7	the	the	DET
fumecheng-13939	76	8	horizontal	horizontal	ADJ
fumecheng-13939	76	9	plane	plane	NOUN
fumecheng-13939	76	10	and	and	CCONJ
fumecheng-13939	76	11	points	point	NOUN
fumecheng-13939	76	12	in	in	ADP
fumecheng-13939	76	13	a	a	DET
fumecheng-13939	76	14	specific	specific	ADJ
fumecheng-13939	76	15	direction	direction	NOUN
fumecheng-13939	76	16	;	;	PUNCT
fumecheng-13939	76	17	the	the	DET
fumecheng-13939	76	18	z	z	NOUN
fumecheng-13939	76	19	-	-	PUNCT
fumecheng-13939	76	20	axis	axis	NOUN
fumecheng-13939	76	21	is	be	AUX
fumecheng-13939	76	22	perpendicular	perpendicular	ADJ
fumecheng-13939	76	23	to	to	ADP
fumecheng-13939	76	24	the	the	DET
fumecheng-13939	76	25	ground	ground	NOUN
fumecheng-13939	76	26	and	and	CCONJ
fumecheng-13939	76	27	points	point	NOUN
fumecheng-13939	76	28	toward	toward	ADP
fumecheng-13939	76	29	the	the	DET
fumecheng-13939	76	30	earth	earth	NOUN
fumecheng-13939	76	31	's	's	PART
fumecheng-13939	76	32	center	center	NOUN
fumecheng-13939	76	33	;	;	PUNCT
fumecheng-13939	76	34	the	the	DET
fumecheng-13939	76	35	y	y	NOUN
fumecheng-13939	76	36	-	-	PUNCT
fumecheng-13939	76	37	axis	axis	NOUN
fumecheng-13939	76	38	also	also	ADV
fumecheng-13939	76	39	lies	lie	VERB
fumecheng-13939	76	40	in	in	ADP
fumecheng-13939	76	41	the	the	DET
fumecheng-13939	76	42	horizontal	horizontal	ADJ
fumecheng-13939	76	43	plane	plane	NOUN
fumecheng-13939	76	44	,	,	PUNCT
fumecheng-13939	76	45	is	be	AUX
fumecheng-13939	76	46	perpendicular	perpendicular	ADJ
fumecheng-13939	76	47	to	to	ADP
fumecheng-13939	76	48	the	the	DET
fumecheng-13939	76	49	x	x	NOUN
fumecheng-13939	76	50	-	-	NOUN
fumecheng-13939	76	51	axis	axis	ADJ
fumecheng-13939	76	52	,	,	PUNCT
fumecheng-13939	76	53	and	and	CCONJ
fumecheng-13939	76	54	is	be	AUX
fumecheng-13939	76	55	determined	determine	VERB
fumecheng-13939	76	56	in	in	ADP
fumecheng-13939	76	57	accordance	accordance	NOUN
fumecheng-13939	76	58	with	with	ADP
fumecheng-13939	76	59	the	the	DET
fumecheng-13939	76	60	right	right	ADJ
fumecheng-13939	76	61	-	-	PUNCT
fumecheng-13939	76	62	hand	hand	NOUN
fumecheng-13939	76	63	rule	rule	NOUN
fumecheng-13939	76	64	.	.	PUNCT
fumecheng-13939	77	1	(	(	PUNCT
fumecheng-13939	77	2	2	2	X
fumecheng-13939	77	3	)	)	PUNCT
fumecheng-13939	77	4	body	body	NOUN
fumecheng-13939	77	5	coordinate	coordinate	NOUN
fumecheng-13939	77	6	system	system	NOUN
fumecheng-13939	77	7	sb	sb	NOUN
fumecheng-13939	77	8	-	-	NOUN
fumecheng-13939	77	9	obxbybzb	obxbybzb	NOUN
fumecheng-13939	77	10	:	:	PUNCT
fumecheng-13939	77	11	the	the	DET
fumecheng-13939	77	12	origin	origin	NOUN
fumecheng-13939	77	13	ob	ob	NOUN
fumecheng-13939	77	14	is	be	AUX
fumecheng-13939	77	15	located	locate	VERB
fumecheng-13939	77	16	at	at	ADP
fumecheng-13939	77	17	the	the	DET
fumecheng-13939	77	18	center	center	NOUN
fumecheng-13939	77	19	of	of	ADP
fumecheng-13939	77	20	mass	mass	NOUN
fumecheng-13939	77	21	of	of	ADP
fumecheng-13939	77	22	the	the	DET
fumecheng-13939	77	23	unmanned	unmanned	ADJ
fumecheng-13939	77	24	aerial	aerial	ADJ
fumecheng-13939	77	25	vehicle	vehicle	NOUN
fumecheng-13939	77	26	(	(	PUNCT
fumecheng-13939	77	27	uav	uav	PROPN
fumecheng-13939	77	28	)	)	PUNCT
fumecheng-13939	77	29	and	and	CCONJ
fumecheng-13939	77	30	is	be	AUX
fumecheng-13939	77	31	fixed	fix	VERB
fumecheng-13939	77	32	to	to	ADP
fumecheng-13939	77	33	the	the	DET
fumecheng-13939	77	34	aircraft	aircraft	NOUN
fumecheng-13939	77	35	.	.	PUNCT
fumecheng-13939	78	1	the	the	DET
fumecheng-13939	78	2	xb	xb	PROPN
fumecheng-13939	78	3	-	-	PUNCT
fumecheng-13939	78	4	axis	axis	NOUN
fumecheng-13939	78	5	lies	lie	VERB
fumecheng-13939	78	6	in	in	ADP
fumecheng-13939	78	7	the	the	DET
fumecheng-13939	78	8	aircraft	aircraft	NOUN
fumecheng-13939	78	9	's	's	PART
fumecheng-13939	78	10	plane	plane	NOUN
fumecheng-13939	78	11	of	of	ADP
fumecheng-13939	78	12	symmetry	symmetry	NOUN
fumecheng-13939	78	13	,	,	PUNCT
fumecheng-13939	78	14	is	be	AUX
fumecheng-13939	78	15	parallel	parallel	ADJ
fumecheng-13939	78	16	to	to	ADP
fumecheng-13939	78	17	the	the	DET
fumecheng-13939	78	18	aircraft	aircraft	NOUN
fumecheng-13939	78	19	's	's	PART
fumecheng-13939	78	20	design	design	NOUN
fumecheng-13939	78	21	axis	axis	NOUN
fumecheng-13939	78	22	,	,	PUNCT
fumecheng-13939	78	23	and	and	CCONJ
fumecheng-13939	78	24	points	point	VERB
fumecheng-13939	78	25	toward	toward	ADP
fumecheng-13939	78	26	the	the	DET
fumecheng-13939	78	27	nose	nose	NOUN
fumecheng-13939	78	28	.	.	PUNCT
fumecheng-13939	79	1	the	the	DET
fumecheng-13939	79	2	yb	yb	PROPN
fumecheng-13939	79	3	-	-	PUNCT
fumecheng-13939	79	4	axis	axis	NOUN
fumecheng-13939	79	5	is	be	AUX
fumecheng-13939	79	6	perpendicular	perpendicular	ADJ
fumecheng-13939	79	7	to	to	ADP
fumecheng-13939	79	8	the	the	DET
fumecheng-13939	79	9	aircraft	aircraft	NOUN
fumecheng-13939	79	10	's	's	PART
fumecheng-13939	79	11	plane	plane	NOUN
fumecheng-13939	79	12	of	of	ADP
fumecheng-13939	79	13	symmetry	symmetry	NOUN
fumecheng-13939	79	14	and	and	CCONJ
fumecheng-13939	79	15	points	point	VERB
fumecheng-13939	79	16	toward	toward	ADP
fumecheng-13939	79	17	the	the	DET
fumecheng-13939	79	18	right	right	ADJ
fumecheng-13939	79	19	side	side	NOUN
fumecheng-13939	79	20	of	of	ADP
fumecheng-13939	79	21	the	the	DET
fumecheng-13939	79	22	fuselage	fuselage	NOUN
fumecheng-13939	79	23	.	.	PUNCT
fumecheng-13939	80	1	the	the	DET
fumecheng-13939	80	2	zb	zb	NOUN
fumecheng-13939	80	3	-	-	PUNCT
fumecheng-13939	80	4	axis	axis	NOUN
fumecheng-13939	80	5	lies	lie	VERB
fumecheng-13939	80	6	in	in	ADP
fumecheng-13939	80	7	the	the	DET
fumecheng-13939	80	8	aircraft	aircraft	NOUN
fumecheng-13939	80	9	's	's	PART
fumecheng-13939	80	10	plane	plane	NOUN
fumecheng-13939	80	11	of	of	ADP
fumecheng-13939	80	12	symmetry	symmetry	NOUN
fumecheng-13939	80	13	,	,	PUNCT
fumecheng-13939	80	14	is	be	AUX
fumecheng-13939	80	15	perpendicular	perpendicular	ADJ
fumecheng-13939	80	16	to	to	ADP
fumecheng-13939	80	17	the	the	DET
fumecheng-13939	80	18	xb	xb	PROPN
fumecheng-13939	80	19	-	-	PUNCT
fumecheng-13939	80	20	axis	axis	NOUN
fumecheng-13939	80	21	,	,	PUNCT
fumecheng-13939	80	22	and	and	CCONJ
fumecheng-13939	80	23	points	point	VERB
fumecheng-13939	80	24	toward	toward	ADP
fumecheng-13939	80	25	the	the	DET
fumecheng-13939	80	26	bottom	bottom	NOUN
fumecheng-13939	80	27	of	of	ADP
fumecheng-13939	80	28	the	the	DET
fumecheng-13939	80	29	fuselage	fuselage	NOUN
fumecheng-13939	80	30	.	.	PUNCT
fumecheng-13939	81	1	(	(	PUNCT
fumecheng-13939	81	2	3	3	X
fumecheng-13939	81	3	)	)	PUNCT
fumecheng-13939	81	4	aircraft	aircraft	NOUN
fumecheng-13939	81	5	attitude	attitude	NOUN
fumecheng-13939	81	6	angles	angle	NOUN
fumecheng-13939	81	7	are	be	AUX
fumecheng-13939	81	8	determined	determine	VERB
fumecheng-13939	81	9	by	by	ADP
fumecheng-13939	81	10	the	the	DET
fumecheng-13939	81	11	relationship	relationship	NOUN
fumecheng-13939	81	12	between	between	ADP
fumecheng-13939	81	13	the	the	DET
fumecheng-13939	81	14	body	body	NOUN
fumecheng-13939	81	15	coordinate	coordinate	NOUN
fumecheng-13939	81	16	system	system	NOUN
fumecheng-13939	81	17	and	and	CCONJ
fumecheng-13939	81	18	the	the	DET
fumecheng-13939	81	19	ground	ground	NOUN
fumecheng-13939	81	20	coordinate	coordinate	NOUN
fumecheng-13939	81	21	system	system	NOUN
fumecheng-13939	81	22	,	,	PUNCT
fumecheng-13939	81	23	which	which	PRON
fumecheng-13939	81	24	are	be	AUX
fumecheng-13939	81	25	known	know	VERB
fumecheng-13939	81	26	as	as	ADP
fumecheng-13939	81	27	euler	euler	NOUN
fumecheng-13939	81	28	angles	angle	NOUN
fumecheng-13939	81	29	.	.	PUNCT
fumecheng-13939	82	1	specifically	specifically	ADV
fumecheng-13939	82	2	:	:	PUNCT
fumecheng-13939	82	3			PRON
fumecheng-13939	82	4	the	the	DET
fumecheng-13939	82	5	pitch	pitch	NOUN
fumecheng-13939	82	6	angle	angle	NOUN
fumecheng-13939	82	7	θ	θ	PROPN
fumecheng-13939	82	8	is	be	AUX
fumecheng-13939	82	9	the	the	DET
fumecheng-13939	82	10	angle	angle	NOUN
fumecheng-13939	82	11	between	between	ADP
fumecheng-13939	82	12	the	the	DET
fumecheng-13939	82	13	body	body	NOUN
fumecheng-13939	82	14	axis	axis	NOUN
fumecheng-13939	82	15	xb	xb	PROPN
fumecheng-13939	82	16	and	and	CCONJ
fumecheng-13939	82	17	the	the	DET
fumecheng-13939	82	18	horizontal	horizontal	ADJ
fumecheng-13939	82	19	plane	plane	NOUN
fumecheng-13939	82	20	,	,	PUNCT
fumecheng-13939	82	21	with	with	ADP
fumecheng-13939	82	22	a	a	DET
fumecheng-13939	82	23	positive	positive	ADJ
fumecheng-13939	82	24	value	value	NOUN
fumecheng-13939	82	25	corresponding	correspond	VERB
fumecheng-13939	82	26	to	to	ADP
fumecheng-13939	82	27	the	the	DET
fumecheng-13939	82	28	nose	nose	NOUN
fumecheng-13939	82	29	-	-	PUNCT
fumecheng-13939	82	30	up	up	ADP
fumecheng-13939	82	31	attitude	attitude	NOUN
fumecheng-13939	82	32	.	.	PUNCT
fumecheng-13939	83	1			X
fumecheng-13939	84	1	the	the	DET
fumecheng-13939	84	2	yaw	yaw	PROPN
fumecheng-13939	84	3	angle	angle	PROPN
fumecheng-13939	84	4	ψ	ψ	X
fumecheng-13939	84	5	is	be	AUX
fumecheng-13939	84	6	the	the	DET
fumecheng-13939	84	7	angle	angle	NOUN
fumecheng-13939	84	8	between	between	ADP
fumecheng-13939	84	9	the	the	DET
fumecheng-13939	84	10	projection	projection	NOUN
fumecheng-13939	84	11	of	of	ADP
fumecheng-13939	84	12	the	the	DET
fumecheng-13939	84	13	body	body	NOUN
fumecheng-13939	84	14	axis	axis	NOUN
fumecheng-13939	84	15	xb	xb	PROPN
fumecheng-13939	84	16	onto	onto	ADP
fumecheng-13939	84	17	the	the	DET
fumecheng-13939	84	18	horizontal	horizontal	ADJ
fumecheng-13939	84	19	plane	plane	NOUN
fumecheng-13939	84	20	and	and	CCONJ
fumecheng-13939	84	21	the	the	DET
fumecheng-13939	84	22	ground	ground	NOUN
fumecheng-13939	84	23	axis	axis	NOUN
fumecheng-13939	84	24	x	x	NOUN
fumecheng-13939	84	25	,	,	PUNCT
fumecheng-13939	84	26	with	with	ADP
fumecheng-13939	84	27	a	a	DET
fumecheng-13939	84	28	positive	positive	ADJ
fumecheng-13939	84	29	value	value	NOUN
fumecheng-13939	84	30	corresponding	correspond	VERB
fumecheng-13939	84	31	to	to	ADP
fumecheng-13939	84	32	the	the	DET
fumecheng-13939	84	33	nose	nose	NOUN
fumecheng-13939	84	34	yawing	yaw	VERB
fumecheng-13939	84	35	to	to	ADP
fumecheng-13939	84	36	the	the	DET
fumecheng-13939	84	37	right	right	NOUN
fumecheng-13939	84	38	.	.	PUNCT
fumecheng-13939	85	1			X
fumecheng-13939	86	1	the	the	DET
fumecheng-13939	86	2	roll	roll	NOUN
fumecheng-13939	86	3	angle	angle	NOUN
fumecheng-13939	86	4	ϕ	ϕ	PROPN
fumecheng-13939	86	5	is	be	AUX
fumecheng-13939	86	6	the	the	DET
fumecheng-13939	86	7	angle	angle	NOUN
fumecheng-13939	86	8	between	between	ADP
fumecheng-13939	86	9	the	the	DET
fumecheng-13939	86	10	body	body	NOUN
fumecheng-13939	86	11	axis	axis	NOUN
fumecheng-13939	86	12	zb	zb	PROPN
fumecheng-13939	86	13	and	and	CCONJ
fumecheng-13939	86	14	the	the	DET
fumecheng-13939	86	15	vertical	vertical	ADJ
fumecheng-13939	86	16	plane	plane	NOUN
fumecheng-13939	86	17	passing	pass	VERB
fumecheng-13939	86	18	through	through	ADP
fumecheng-13939	86	19	the	the	DET
fumecheng-13939	86	20	body	body	NOUN
fumecheng-13939	86	21	axis	axis	NOUN
fumecheng-13939	86	22	xb	xb	PROPN
fumecheng-13939	86	23	,	,	PUNCT
fumecheng-13939	86	24	with	with	ADP
fumecheng-13939	86	25	a	a	DET
fumecheng-13939	86	26	positive	positive	ADJ
fumecheng-13939	86	27	value	value	NOUN
fumecheng-13939	86	28	corresponding	correspond	VERB
fumecheng-13939	86	29	to	to	ADP
fumecheng-13939	86	30	the	the	DET
fumecheng-13939	86	31	aircraft	aircraft	NOUN
fumecheng-13939	86	32	rolling	roll	VERB
fumecheng-13939	86	33	to	to	ADP
fumecheng-13939	86	34	the	the	DET
fumecheng-13939	86	35	right	right	NOUN
fumecheng-13939	86	36	.	.	PUNCT
fumecheng-13939	87	1	fig	fig	NOUN
fumecheng-13939	87	2	.	.	PUNCT
fumecheng-13939	88	1	1	1	NUM
fumecheng-13939	88	2	the	the	DET
fumecheng-13939	88	3	relationship	relationship	NOUN
fumecheng-13939	88	4	between	between	ADP
fumecheng-13939	88	5	the	the	DET
fumecheng-13939	88	6	body	body	NOUN
fumecheng-13939	88	7	coordinate	coordinate	NOUN
fumecheng-13939	88	8	system	system	NOUN
fumecheng-13939	88	9	sb	sb	PROPN
fumecheng-13939	88	10	and	and	CCONJ
fumecheng-13939	88	11	the	the	DET
fumecheng-13939	88	12	ground	ground	NOUN
fumecheng-13939	88	13	coordinate	coordinate	NOUN
fumecheng-13939	88	14	system	system	NOUN
fumecheng-13939	88	15	sg	sg	ADP
fumecheng-13939	88	16	fault	fault	NOUN
fumecheng-13939	88	17	-	-	PUNCT
fumecheng-13939	88	18	tolerant	tolerant	ADJ
fumecheng-13939	88	19	control	control	NOUN
fumecheng-13939	88	20	of	of	ADP
fumecheng-13939	88	21	low	low	ADJ
fumecheng-13939	88	22	-	-	PUNCT
fumecheng-13939	88	23	altitude	altitude	NOUN
fumecheng-13939	88	24	unmanned	unmanned	ADJ
fumecheng-13939	88	25	aerial	aerial	ADJ
fumecheng-13939	88	26	vehicle	vehicle	NOUN
fumecheng-13939	88	27	swarms	swarm	NOUN
fumecheng-13939	88	28	using	use	VERB
fumecheng-13939	88	29	...	...	PUNCT
fumecheng-13939	88	30	5	5	NUM
fumecheng-13939	88	31	newton	newton	PROPN
fumecheng-13939	88	32	's	's	PART
fumecheng-13939	88	33	second	second	ADJ
fumecheng-13939	88	34	law	law	NOUN
fumecheng-13939	88	35	can	can	AUX
fumecheng-13939	88	36	be	be	AUX
fumecheng-13939	88	37	applied	apply	VERB
fumecheng-13939	88	38	to	to	PART
fumecheng-13939	88	39	establish	establish	VERB
fumecheng-13939	88	40	the	the	DET
fumecheng-13939	88	41	linear	linear	ADJ
fumecheng-13939	88	42	motion	motion	NOUN
fumecheng-13939	88	43	and	and	CCONJ
fumecheng-13939	88	44	angular	angular	ADJ
fumecheng-13939	88	45	motion	motion	NOUN
fumecheng-13939	88	46	dynamics	dynamic	NOUN
fumecheng-13939	88	47	equations	equation	NOUN
fumecheng-13939	88	48	of	of	ADP
fumecheng-13939	88	49	a	a	DET
fumecheng-13939	88	50	single	single	ADJ
fumecheng-13939	88	51	uav	uav	PROPN
fumecheng-13939	88	52	under	under	ADP
fumecheng-13939	88	53	the	the	DET
fumecheng-13939	88	54	action	action	NOUN
fumecheng-13939	88	55	of	of	ADP
fumecheng-13939	88	56	the	the	DET
fumecheng-13939	88	57	external	external	ADJ
fumecheng-13939	88	58	force	force	NOUN
fumecheng-13939	88	59	f	f	PROPN
fumecheng-13939	88	60	and	and	CCONJ
fumecheng-13939	88	61	the	the	DET
fumecheng-13939	88	62	external	external	ADJ
fumecheng-13939	88	63	torque	torque	NOUN
fumecheng-13939	88	64	m.	m.	NOUN
fumecheng-13939	88	65	the	the	DET
fumecheng-13939	88	66	linear	linear	ADJ
fumecheng-13939	88	67	motion	motion	NOUN
fumecheng-13939	88	68	dynamics	dynamic	NOUN
fumecheng-13939	88	69	equation	equation	NOUN
fumecheng-13939	88	70	of	of	ADP
fumecheng-13939	88	71	a	a	DET
fumecheng-13939	88	72	uav	uav	PROPN
fumecheng-13939	88	73	with	with	ADP
fumecheng-13939	88	74	the	the	DET
fumecheng-13939	88	75	external	external	ADJ
fumecheng-13939	88	76	force	force	NOUN
fumecheng-13939	88	77	f	f	PROPN
fumecheng-13939	88	78	can	can	AUX
fumecheng-13939	88	79	be	be	AUX
fumecheng-13939	88	80	expressed	express	VERB
fumecheng-13939	88	81	as	as	SCONJ
fumecheng-13939	88	82	follows	follow	VERB
fumecheng-13939	88	83	:	:	PUNCT
fumecheng-13939	89	1	d	d	X
fumecheng-13939	89	2	d	d	X
fumecheng-13939	89	3	m	m	VERB
fumecheng-13939	89	4	t	t	NOUN
fumecheng-13939	89	5			PROPN
fumecheng-13939	89	6	v	v	X
fumecheng-13939	89	7	f	f	X
fumecheng-13939	89	8	(	(	PUNCT
fumecheng-13939	89	9	1	1	NUM
fumecheng-13939	89	10	)	)	PUNCT
fumecheng-13939	89	11	where	where	SCONJ
fumecheng-13939	89	12	v	v	NOUN
fumecheng-13939	89	13	denotes	denote	VERB
fumecheng-13939	89	14	the	the	DET
fumecheng-13939	89	15	velocity	velocity	NOUN
fumecheng-13939	89	16	vector	vector	NOUN
fumecheng-13939	89	17	of	of	ADP
fumecheng-13939	89	18	the	the	DET
fumecheng-13939	89	19	uav	uav	PROPN
fumecheng-13939	89	20	's	's	PART
fumecheng-13939	89	21	center	center	NOUN
fumecheng-13939	89	22	of	of	ADP
fumecheng-13939	89	23	mass	mass	PROPN
fumecheng-13939	89	24	,	,	PUNCT
fumecheng-13939	89	25	t	t	PROPN
fumecheng-13939	89	26	denotes	denote	VERB
fumecheng-13939	89	27	the	the	DET
fumecheng-13939	89	28	time	time	NOUN
fumecheng-13939	89	29	and	and	CCONJ
fumecheng-13939	89	30	m	m	PROPN
fumecheng-13939	89	31	denotes	denote	VERB
fumecheng-13939	89	32	the	the	DET
fumecheng-13939	89	33	mass	mass	NOUN
fumecheng-13939	89	34	of	of	ADP
fumecheng-13939	89	35	the	the	DET
fumecheng-13939	89	36	uav	uav	PROPN
fumecheng-13939	89	37	.	.	PUNCT
fumecheng-13939	90	1	the	the	DET
fumecheng-13939	90	2	angular	angular	ADJ
fumecheng-13939	90	3	motion	motion	NOUN
fumecheng-13939	90	4	dynamics	dynamic	NOUN
fumecheng-13939	90	5	equation	equation	NOUN
fumecheng-13939	90	6	of	of	ADP
fumecheng-13939	90	7	a	a	DET
fumecheng-13939	90	8	uav	uav	PROPN
fumecheng-13939	90	9	under	under	ADP
fumecheng-13939	90	10	the	the	DET
fumecheng-13939	90	11	action	action	NOUN
fumecheng-13939	90	12	of	of	ADP
fumecheng-13939	90	13	the	the	DET
fumecheng-13939	90	14	external	external	ADJ
fumecheng-13939	90	15	torque	torque	NOUN
fumecheng-13939	90	16	m	m	VERB
fumecheng-13939	90	17	can	can	AUX
fumecheng-13939	90	18	be	be	AUX
fumecheng-13939	90	19	expressed	express	VERB
fumecheng-13939	90	20	as	as	ADP
fumecheng-13939	90	21	:	:	PUNCT
fumecheng-13939	90	22	d	d	X
fumecheng-13939	90	23	dt	dt	X
fumecheng-13939	90	24			PROPN
fumecheng-13939	90	25	l	l	X
fumecheng-13939	90	26	m	m	PROPN
fumecheng-13939	90	27	(	(	PUNCT
fumecheng-13939	90	28	2	2	NUM
fumecheng-13939	90	29	)	)	PUNCT
fumecheng-13939	90	30	where	where	SCONJ
fumecheng-13939	90	31	l	l	NOUN
fumecheng-13939	90	32	is	be	AUX
fumecheng-13939	90	33	the	the	DET
fumecheng-13939	90	34	moment	moment	NOUN
fumecheng-13939	90	35	of	of	ADP
fumecheng-13939	90	36	momentum	momentum	NOUN
fumecheng-13939	90	37	.	.	PUNCT
fumecheng-13939	91	1	to	to	PART
fumecheng-13939	91	2	establish	establish	VERB
fumecheng-13939	91	3	the	the	DET
fumecheng-13939	91	4	relative	relative	ADJ
fumecheng-13939	91	5	motion	motion	NOUN
fumecheng-13939	91	6	relationship	relationship	NOUN
fumecheng-13939	91	7	of	of	ADP
fumecheng-13939	91	8	the	the	DET
fumecheng-13939	91	9	uav	uav	PROPN
fumecheng-13939	91	10	relative	relative	ADJ
fumecheng-13939	91	11	to	to	ADP
fumecheng-13939	91	12	the	the	DET
fumecheng-13939	91	13	ground	ground	NOUN
fumecheng-13939	91	14	coordinate	coordinate	NOUN
fumecheng-13939	91	15	system	system	NOUN
fumecheng-13939	91	16	,	,	PUNCT
fumecheng-13939	91	17	the	the	DET
fumecheng-13939	91	18	body	body	NOUN
fumecheng-13939	91	19	coordinate	coordinate	NOUN
fumecheng-13939	91	20	system	system	NOUN
fumecheng-13939	91	21	was	be	AUX
fumecheng-13939	91	22	selected	select	VERB
fumecheng-13939	91	23	to	to	PART
fumecheng-13939	91	24	establish	establish	VERB
fumecheng-13939	91	25	the	the	DET
fumecheng-13939	91	26	dynamic	dynamic	ADJ
fumecheng-13939	91	27	coordinate	coordinate	NOUN
fumecheng-13939	91	28	system	system	NOUN
fumecheng-13939	91	29	.	.	PUNCT
fumecheng-13939	92	1	assuming	assume	VERB
fumecheng-13939	92	2	that	that	SCONJ
fumecheng-13939	92	3	the	the	DET
fumecheng-13939	92	4	velocity	velocity	NOUN
fumecheng-13939	92	5	of	of	ADP
fumecheng-13939	92	6	the	the	DET
fumecheng-13939	92	7	body	body	NOUN
fumecheng-13939	92	8	coordinate	coordinate	NOUN
fumecheng-13939	92	9	system	system	NOUN
fumecheng-13939	92	10	relative	relative	ADJ
fumecheng-13939	92	11	to	to	ADP
fumecheng-13939	92	12	the	the	DET
fumecheng-13939	92	13	inertial	inertial	ADJ
fumecheng-13939	92	14	coordinate	coordinate	NOUN
fumecheng-13939	92	15	system	system	NOUN
fumecheng-13939	92	16	is	be	AUX
fumecheng-13939	92	17	v	v	NOUN
fumecheng-13939	92	18	and	and	CCONJ
fumecheng-13939	92	19	the	the	DET
fumecheng-13939	92	20	angular	angular	ADJ
fumecheng-13939	92	21	velocity	velocity	NOUN
fumecheng-13939	92	22	vector	vector	NOUN
fumecheng-13939	92	23	is	be	AUX
fumecheng-13939	92	24	ω	ω	NOUN
fumecheng-13939	92	25	,	,	PUNCT
fumecheng-13939	92	26	then	then	ADV
fumecheng-13939	92	27	it	it	PRON
fumecheng-13939	92	28	can	can	AUX
fumecheng-13939	92	29	be	be	AUX
fumecheng-13939	92	30	written	write	VERB
fumecheng-13939	92	31	:	:	PUNCT
fumecheng-13939	93	1	d	d	X
fumecheng-13939	93	2	dt	dt	X
fumecheng-13939	93	3	t	t	PROPN
fumecheng-13939	94	1			NUM
fumecheng-13939	94	2			PROPN
fumecheng-13939	94	3			PROPN
fumecheng-13939	94	4			PUNCT
fumecheng-13939	94	5	v	v	PROPN
fumecheng-13939	94	6	v	v	X
fumecheng-13939	94	7	v	v	NOUN
fumecheng-13939	94	8	i	i	NOUN
fumecheng-13939	94	9	v	v	INTJ
fumecheng-13939	94	10	(	(	PUNCT
fumecheng-13939	94	11	3	3	X
fumecheng-13939	94	12	)	)	PUNCT
fumecheng-13939	94	13	d	d	NOUN
fumecheng-13939	94	14	dt	dt	X
fumecheng-13939	94	15	t	t	PROPN
fumecheng-13939	95	1			NUM
fumecheng-13939	95	2			NUM
fumecheng-13939	95	3			NUM
fumecheng-13939	95	4			PUNCT
fumecheng-13939	95	5	l	l	PUNCT
fumecheng-13939	95	6	l	l	NOUN
fumecheng-13939	95	7	l	l	NOUN
fumecheng-13939	96	1	i	i	PRON
fumecheng-13939	96	2	l	l	NOUN
fumecheng-13939	96	3	(	(	PUNCT
fumecheng-13939	96	4	4	4	NUM
fumecheng-13939	96	5	)	)	PUNCT
fumecheng-13939	96	6	where	where	SCONJ
fumecheng-13939	96	7	iv	iv	NUM
fumecheng-13939	96	8	and	and	CCONJ
fumecheng-13939	96	9	il	il	PROPN
fumecheng-13939	96	10	are	be	AUX
fumecheng-13939	96	11	the	the	DET
fumecheng-13939	96	12	unit	unit	NOUN
fumecheng-13939	96	13	vectors	vector	NOUN
fumecheng-13939	96	14	along	along	ADP
fumecheng-13939	96	15	the	the	DET
fumecheng-13939	96	16	flight	flight	NOUN
fumecheng-13939	96	17	speed	speed	NOUN
fumecheng-13939	96	18	v	v	NOUN
fumecheng-13939	96	19	and	and	CCONJ
fumecheng-13939	96	20	the	the	DET
fumecheng-13939	96	21	moment	moment	NOUN
fumecheng-13939	96	22	of	of	ADP
fumecheng-13939	96	23	momentum	momentum	NOUN
fumecheng-13939	96	24	l	l	NOUN
fumecheng-13939	96	25	,	,	PUNCT
fumecheng-13939	96	26	respectively	respectively	ADV
fumecheng-13939	96	27	,	,	PUNCT
fumecheng-13939	96	28	t	t	PROPN
fumecheng-13939	96	29			NUM
fumecheng-13939	96	30			NUM
fumecheng-13939	96	31	v	v	NOUN
fumecheng-13939	96	32	and	and	CCONJ
fumecheng-13939	96	33	t	t	NOUN
fumecheng-13939	96	34			NUM
fumecheng-13939	96	35			PROPN
fumecheng-13939	96	36	l	l	NOUN
fumecheng-13939	96	37	represent	represent	VERB
fumecheng-13939	96	38	the	the	DET
fumecheng-13939	96	39	relative	relative	ADJ
fumecheng-13939	96	40	derivatives	derivative	NOUN
fumecheng-13939	96	41	in	in	ADP
fumecheng-13939	96	42	the	the	DET
fumecheng-13939	96	43	dynamic	dynamic	ADJ
fumecheng-13939	96	44	coordinate	coordinate	NOUN
fumecheng-13939	96	45	system	system	NOUN
fumecheng-13939	96	46	,	,	PUNCT
fumecheng-13939	96	47	and	and	CCONJ
fumecheng-13939	96	48	ω	ω	PROPN
fumecheng-13939	96	49	is	be	AUX
fumecheng-13939	96	50	the	the	DET
fumecheng-13939	96	51	total	total	ADJ
fumecheng-13939	96	52	angular	angular	ADJ
fumecheng-13939	96	53	velocity	velocity	NOUN
fumecheng-13939	96	54	vector	vector	NOUN
fumecheng-13939	96	55	in	in	ADP
fumecheng-13939	96	56	the	the	DET
fumecheng-13939	96	57	dynamic	dynamic	ADJ
fumecheng-13939	96	58	coordinate	coordinate	NOUN
fumecheng-13939	96	59	system	system	NOUN
fumecheng-13939	96	60	relative	relative	ADJ
fumecheng-13939	96	61	to	to	ADP
fumecheng-13939	96	62	the	the	DET
fumecheng-13939	96	63	inertial	inertial	ADJ
fumecheng-13939	96	64	coordinate	coordinate	NOUN
fumecheng-13939	96	65	system	system	NOUN
fumecheng-13939	96	66	.	.	PUNCT
fumecheng-13939	97	1	v	v	NOUN
fumecheng-13939	97	2	and	and	CCONJ
fumecheng-13939	97	3	ω	ω	PROPN
fumecheng-13939	97	4	can	can	AUX
fumecheng-13939	97	5	be	be	AUX
fumecheng-13939	97	6	represented	represent	VERB
fumecheng-13939	97	7	via	via	ADP
fumecheng-13939	97	8	their	their	PRON
fumecheng-13939	97	9	components	component	NOUN
fumecheng-13939	97	10	,	,	PUNCT
fumecheng-13939	97	11	as	as	SCONJ
fumecheng-13939	97	12	follows	follow	VERB
fumecheng-13939	97	13	:	:	PUNCT
fumecheng-13939	97	14			NUM
fumecheng-13939	97	15			ADJ
fumecheng-13939	97	16	u	u	PROPN
fumecheng-13939	97	17	v	v	ADP
fumecheng-13939	97	18	wv	wv	PROPN
fumecheng-13939	98	1	i	i	PRON
fumecheng-13939	98	2	j	j	PROPN
fumecheng-13939	99	1	k	k	X
fumecheng-13939	99	2	(	(	PUNCT
fumecheng-13939	99	3	5	5	NUM
fumecheng-13939	99	4	)	)	PUNCT
fumecheng-13939	99	5	p	p	NOUN
fumecheng-13939	99	6	q	q	X
fumecheng-13939	99	7	r	r	X
fumecheng-13939	99	8			PROPN
fumecheng-13939	99	9	i	i	PROPN
fumecheng-13939	99	10	j	j	PROPN
fumecheng-13939	99	11	k	k	NOUN
fumecheng-13939	99	12	(	(	PUNCT
fumecheng-13939	99	13	6	6	NUM
fumecheng-13939	99	14	)	)	PUNCT
fumecheng-13939	99	15	where	where	SCONJ
fumecheng-13939	99	16	i	i	PRON
fumecheng-13939	99	17	,	,	PUNCT
fumecheng-13939	99	18	j	j	PROPN
fumecheng-13939	99	19	and	and	CCONJ
fumecheng-13939	99	20	k	k	PROPN
fumecheng-13939	99	21	are	be	AUX
fumecheng-13939	99	22	the	the	DET
fumecheng-13939	99	23	unit	unit	NOUN
fumecheng-13939	99	24	vectors	vector	NOUN
fumecheng-13939	99	25	in	in	ADP
fumecheng-13939	99	26	the	the	DET
fumecheng-13939	99	27	directions	direction	NOUN
fumecheng-13939	99	28	of	of	ADP
fumecheng-13939	99	29	the	the	DET
fumecheng-13939	99	30	x	x	NOUN
fumecheng-13939	99	31	-	-	NOUN
fumecheng-13939	99	32	axis	axis	ADJ
fumecheng-13939	99	33	,	,	PUNCT
fumecheng-13939	99	34	y	y	NOUN
fumecheng-13939	99	35	-	-	PUNCT
fumecheng-13939	99	36	axis	axis	NOUN
fumecheng-13939	99	37	and	and	CCONJ
fumecheng-13939	99	38	z	z	NOUN
fumecheng-13939	99	39	-	-	PUNCT
fumecheng-13939	99	40	axis	axis	ADJ
fumecheng-13939	99	41	,	,	PUNCT
fumecheng-13939	99	42	respectively	respectively	ADV
fumecheng-13939	99	43	;	;	PUNCT
fumecheng-13939	99	44	u	u	NOUN
fumecheng-13939	99	45	,	,	PUNCT
fumecheng-13939	99	46	v	v	NOUN
fumecheng-13939	99	47	and	and	CCONJ
fumecheng-13939	99	48	w	w	AUX
fumecheng-13939	99	49	represent	represent	VERB
fumecheng-13939	99	50	the	the	DET
fumecheng-13939	99	51	velocity	velocity	NOUN
fumecheng-13939	99	52	v	v	ADP
fumecheng-13939	99	53	components	component	NOUN
fumecheng-13939	99	54	along	along	ADP
fumecheng-13939	99	55	the	the	DET
fumecheng-13939	99	56	xb	xb	PROPN
fumecheng-13939	99	57	-	-	PUNCT
fumecheng-13939	99	58	axis	axis	ADJ
fumecheng-13939	99	59	,	,	PUNCT
fumecheng-13939	99	60	yb	yb	NOUN
fumecheng-13939	99	61	-	-	PUNCT
fumecheng-13939	99	62	axis	axis	NOUN
fumecheng-13939	99	63	and	and	CCONJ
fumecheng-13939	99	64	zb	zb	NOUN
fumecheng-13939	99	65	-	-	PUNCT
fumecheng-13939	99	66	axis	axis	ADJ
fumecheng-13939	99	67	,	,	PUNCT
fumecheng-13939	99	68	respectively	respectively	ADV
fumecheng-13939	99	69	,	,	PUNCT
fumecheng-13939	99	70	and	and	CCONJ
fumecheng-13939	99	71	p	p	X
fumecheng-13939	99	72	,	,	PUNCT
fumecheng-13939	99	73	q	q	X
fumecheng-13939	99	74	,	,	PUNCT
fumecheng-13939	99	75	and	and	CCONJ
fumecheng-13939	99	76	r	r	PRON
fumecheng-13939	99	77	represent	represent	VERB
fumecheng-13939	99	78	the	the	DET
fumecheng-13939	99	79	components	component	NOUN
fumecheng-13939	99	80	of	of	ADP
fumecheng-13939	99	81	the	the	DET
fumecheng-13939	99	82	rotational	rotational	ADJ
fumecheng-13939	99	83	angular	angular	ADJ
fumecheng-13939	99	84	velocity	velocity	NOUN
fumecheng-13939	99	85	ω	ω	NOUN
fumecheng-13939	99	86	of	of	ADP
fumecheng-13939	99	87	the	the	DET
fumecheng-13939	99	88	aircraft	aircraft	NOUN
fumecheng-13939	99	89	coordinate	coordinate	NOUN
fumecheng-13939	99	90	system	system	NOUN
fumecheng-13939	99	91	relative	relative	ADJ
fumecheng-13939	99	92	to	to	ADP
fumecheng-13939	99	93	the	the	DET
fumecheng-13939	99	94	ground	ground	NOUN
fumecheng-13939	99	95	coordinate	coordinate	NOUN
fumecheng-13939	99	96	system	system	NOUN
fumecheng-13939	99	97	on	on	ADP
fumecheng-13939	99	98	the	the	DET
fumecheng-13939	99	99	xb	xb	PROPN
fumecheng-13939	99	100	-	-	PUNCT
fumecheng-13939	99	101	axis	axis	ADJ
fumecheng-13939	99	102	,	,	PUNCT
fumecheng-13939	99	103	yb	yb	NOUN
fumecheng-13939	99	104	-	-	PUNCT
fumecheng-13939	99	105	axis	axis	NOUN
fumecheng-13939	99	106	and	and	CCONJ
fumecheng-13939	99	107	zb	zb	NOUN
fumecheng-13939	99	108	-	-	NOUN
fumecheng-13939	99	109	axis	axis	NOUN
fumecheng-13939	99	110	of	of	ADP
fumecheng-13939	99	111	the	the	DET
fumecheng-13939	99	112	aircraft	aircraft	NOUN
fumecheng-13939	99	113	coordinate	coordinate	NOUN
fumecheng-13939	99	114	system	system	NOUN
fumecheng-13939	99	115	,	,	PUNCT
fumecheng-13939	99	116	respectively	respectively	ADV
fumecheng-13939	99	117	.	.	PUNCT
fumecheng-13939	100	1	in	in	ADP
fumecheng-13939	100	2	what	what	PRON
fumecheng-13939	100	3	follows	follow	VERB
fumecheng-13939	100	4	,	,	PUNCT
fumecheng-13939	100	5	eq	eq	ADJ
fumecheng-13939	100	6	.	.	PUNCT
fumecheng-13939	101	1	(	(	PUNCT
fumecheng-13939	101	2	3	3	X
fumecheng-13939	101	3	)	)	PUNCT
fumecheng-13939	101	4	can	can	AUX
fumecheng-13939	101	5	be	be	AUX
fumecheng-13939	101	6	adequately	adequately	ADV
fumecheng-13939	101	7	rewritten	rewrite	VERB
fumecheng-13939	101	8	.	.	PUNCT
fumecheng-13939	102	1	the	the	DET
fumecheng-13939	102	2	first	first	ADJ
fumecheng-13939	102	3	term	term	NOUN
fumecheng-13939	102	4	on	on	ADP
fumecheng-13939	102	5	the	the	DET
fumecheng-13939	102	6	right	right	ADJ
fumecheng-13939	102	7	-	-	PUNCT
fumecheng-13939	102	8	hand	hand	NOUN
fumecheng-13939	102	9	side	side	NOUN
fumecheng-13939	102	10	of	of	ADP
fumecheng-13939	102	11	eq	eq	PROPN
fumecheng-13939	102	12	.	.	PUNCT
fumecheng-13939	103	1	(	(	PUNCT
fumecheng-13939	103	2	3	3	X
fumecheng-13939	103	3	)	)	PUNCT
fumecheng-13939	103	4	reads	read	VERB
fumecheng-13939	103	5	:	:	PUNCT
fumecheng-13939	104	1	6	6	NUM
fumecheng-13939	104	2	l.	l.	PROPN
fumecheng-13939	104	3	xu	xu	PROPN
fumecheng-13939	104	4	u	u	PROPN
fumecheng-13939	104	5	v	v	PROPN
fumecheng-13939	104	6	w	w	PROPN
fumecheng-13939	104	7	u	u	PROPN
fumecheng-13939	104	8	v	v	PROPN
fumecheng-13939	104	9	w	w	PROPN
fumecheng-13939	104	10	t	t	PROPN
fumecheng-13939	104	11	t	t	PROPN
fumecheng-13939	104	12	t	t	PROPN
fumecheng-13939	104	13	t	t	PROPN
fumecheng-13939	104	14			NUM
fumecheng-13939	104	15			NUM
fumecheng-13939	104	16			NUM
fumecheng-13939	104	17			NUM
fumecheng-13939	104	18			NUM
fumecheng-13939	104	19			NUM
fumecheng-13939	104	20			NUM
fumecheng-13939	104	21			NUM
fumecheng-13939	104	22			PROPN
fumecheng-13939	104	23			ADJ
fumecheng-13939	104	24			PUNCT
fumecheng-13939	104	25			PROPN
fumecheng-13939	104	26			X
fumecheng-13939	104	27	v	v	PROPN
fumecheng-13939	105	1	v	v	ADP
fumecheng-13939	105	2	i	i	PRON
fumecheng-13939	106	1	i	i	INTJ
fumecheng-13939	106	2	j	j	PROPN
fumecheng-13939	107	1	k	k	INTJ
fumecheng-13939	107	2	i	i	PRON
fumecheng-13939	107	3	j	j	PROPN
fumecheng-13939	107	4	k	k	PROPN
fumecheng-13939	107	5			NOUN
fumecheng-13939	107	6			NOUN
fumecheng-13939	107	7	(	(	PUNCT
fumecheng-13939	107	8	7	7	X
fumecheng-13939	107	9	)	)	PUNCT
fumecheng-13939	107	10	the	the	DET
fumecheng-13939	107	11	second	second	ADJ
fumecheng-13939	107	12	item	item	NOUN
fumecheng-13939	107	13	on	on	ADP
fumecheng-13939	107	14	the	the	DET
fumecheng-13939	107	15	right	right	ADJ
fumecheng-13939	107	16	-	-	PUNCT
fumecheng-13939	107	17	hand	hand	NOUN
fumecheng-13939	107	18	side	side	NOUN
fumecheng-13939	107	19	of	of	ADP
fumecheng-13939	107	20	eq	eq	PROPN
fumecheng-13939	107	21	.	.	PUNCT
fumecheng-13939	108	1	(	(	PUNCT
fumecheng-13939	108	2	3	3	X
fumecheng-13939	108	3	)	)	PUNCT
fumecheng-13939	108	4	is	be	AUX
fumecheng-13939	108	5	:	:	PUNCT
fumecheng-13939	108	6	(	(	PUNCT
fumecheng-13939	108	7	)	)	PUNCT
fumecheng-13939	108	8	(	(	PUNCT
fumecheng-13939	108	9	)	)	PUNCT
fumecheng-13939	108	10	(	(	PUNCT
fumecheng-13939	108	11	)	)	PUNCT
fumecheng-13939	108	12	p	p	X
fumecheng-13939	108	13	q	q	NOUN
fumecheng-13939	108	14	r	r	NOUN
fumecheng-13939	108	15	wq	wq	NOUN
fumecheng-13939	108	16	vr	vr	INTJ
fumecheng-13939	108	17	ur	ur	INTJ
fumecheng-13939	108	18	wp	wp	PROPN
fumecheng-13939	108	19	vp	vp	PROPN
fumecheng-13939	108	20	uq	uq	PROPN
fumecheng-13939	108	21	u	u	PROPN
fumecheng-13939	108	22	v	v	PROPN
fumecheng-13939	108	23	w	w	NOUN
fumecheng-13939	108	24			PROPN
fumecheng-13939	109	1			PROPN
fumecheng-13939	109	2			PROPN
fumecheng-13939	109	3			PROPN
fumecheng-13939	109	4			VERB
fumecheng-13939	109	5			PROPN
fumecheng-13939	109	6			VERB
fumecheng-13939	109	7			PROPN
fumecheng-13939	109	8	i	i	PRON
fumecheng-13939	109	9	j	j	PROPN
fumecheng-13939	110	1	k	k	PROPN
fumecheng-13939	110	2	v	v	INTJ
fumecheng-13939	111	1	i	i	PRON
fumecheng-13939	111	2	j	j	PROPN
fumecheng-13939	111	3	k	k	PROPN
fumecheng-13939	111	4	(	(	PUNCT
fumecheng-13939	111	5	8)	8)	NUM
fumecheng-13939	111	6	the	the	DET
fumecheng-13939	111	7	combined	combine	VERB
fumecheng-13939	111	8	force	force	NOUN
fumecheng-13939	111	9	can	can	AUX
fumecheng-13939	111	10	also	also	ADV
fumecheng-13939	111	11	be	be	AUX
fumecheng-13939	111	12	represented	represent	VERB
fumecheng-13939	111	13	via	via	ADP
fumecheng-13939	111	14	its	its	PRON
fumecheng-13939	111	15	components	component	NOUN
fumecheng-13939	111	16	:	:	PUNCT
fumecheng-13939	112	1	b	b	X
fumecheng-13939	112	2	b	b	X
fumecheng-13939	112	3	bx	bx	NOUN
fumecheng-13939	112	4	y	y	PROPN
fumecheng-13939	112	5	zf	zf	PROPN
fumecheng-13939	112	6	f	f	PROPN
fumecheng-13939	112	7	f	f	PROPN
fumecheng-13939	112	8			VERB
fumecheng-13939	112	9	f	f	VERB
fumecheng-13939	113	1	i	i	PRON
fumecheng-13939	113	2	j	j	PROPN
fumecheng-13939	114	1	k	k	PROPN
fumecheng-13939	114	2	(	(	PUNCT
fumecheng-13939	114	3	9	9	NUM
fumecheng-13939	114	4	)	)	PUNCT
fumecheng-13939	114	5	where	where	SCONJ
fumecheng-13939	114	6	bxf	bxf	NOUN
fumecheng-13939	114	7	,	,	PUNCT
fumecheng-13939	114	8	byf	byf	VERB
fumecheng-13939	114	9	and	and	CCONJ
fumecheng-13939	114	10	bzf	bzf	NOUN
fumecheng-13939	114	11	are	be	AUX
fumecheng-13939	114	12	the	the	DET
fumecheng-13939	114	13	resultant	resultant	NOUN
fumecheng-13939	114	14	components	component	NOUN
fumecheng-13939	114	15	along	along	ADP
fumecheng-13939	114	16	each	each	DET
fumecheng-13939	114	17	axis	axis	NOUN
fumecheng-13939	114	18	.	.	PUNCT
fumecheng-13939	115	1	from	from	ADP
fumecheng-13939	115	2	eqs	eqs	PROPN
fumecheng-13939	115	3	.	.	PUNCT
fumecheng-13939	115	4	(	(	PUNCT
fumecheng-13939	115	5	7)-(9	7)-(9	NOUN
fumecheng-13939	115	6	)	)	PUNCT
fumecheng-13939	115	7	and	and	CCONJ
fumecheng-13939	115	8	eq	eq	NOUN
fumecheng-13939	115	9	.	.	PUNCT
fumecheng-13939	116	1	(	(	PUNCT
fumecheng-13939	116	2	1	1	NUM
fumecheng-13939	116	3	)	)	PUNCT
fumecheng-13939	116	4	,	,	PUNCT
fumecheng-13939	116	5	one	one	PRON
fumecheng-13939	116	6	may	may	AUX
fumecheng-13939	116	7	write	write	VERB
fumecheng-13939	116	8	:	:	PUNCT
fumecheng-13939	116	9	(	(	PUNCT
fumecheng-13939	116	10	)	)	PUNCT
fumecheng-13939	116	11	(	(	PUNCT
fumecheng-13939	116	12	)	)	PUNCT
fumecheng-13939	116	13	(	(	PUNCT
fumecheng-13939	116	14	)	)	PUNCT
fumecheng-13939	117	1	b	b	X
fumecheng-13939	117	2	b	b	X
fumecheng-13939	117	3	b	b	PROPN
fumecheng-13939	117	4	x	x	SYM
fumecheng-13939	117	5	y	y	PROPN
fumecheng-13939	117	6	z	z	NOUN
fumecheng-13939	117	7	f	f	NOUN
fumecheng-13939	117	8	m	m	VERB
fumecheng-13939	117	9	u	u	NOUN
fumecheng-13939	117	10	vr	vr	NOUN
fumecheng-13939	117	11	+	+	CCONJ
fumecheng-13939	117	12	wq	wq	PROPN
fumecheng-13939	117	13	f	f	PROPN
fumecheng-13939	117	14	m	m	VERB
fumecheng-13939	117	15	v	v	INTJ
fumecheng-13939	117	16	wp+ur	wp+ur	INTJ
fumecheng-13939	118	1	f	f	PROPN
fumecheng-13939	118	2	m	m	VERB
fumecheng-13939	118	3	w	w	ADJ
fumecheng-13939	118	4	uq+vp	uq+vp	PRON
fumecheng-13939	118	5			PUNCT
fumecheng-13939	118	6			VERB
fumecheng-13939	118	7			DET
fumecheng-13939	118	8			PROPN
fumecheng-13939	118	9			PRON
fumecheng-13939	118	10			PROPN
fumecheng-13939	118	11			PROPN
fumecheng-13939	118	12			NUM
fumecheng-13939	118	13			ADJ
fumecheng-13939	118	14			NOUN
fumecheng-13939	118	15			NOUN
fumecheng-13939	118	16	(	(	PUNCT
fumecheng-13939	118	17	10	10	NUM
fumecheng-13939	118	18	)	)	PUNCT
fumecheng-13939	118	19	unless	unless	SCONJ
fumecheng-13939	118	20	otherwise	otherwise	ADV
fumecheng-13939	118	21	specified	specify	VERB
fumecheng-13939	118	22	,	,	PUNCT
fumecheng-13939	118	23	a	a	DET
fumecheng-13939	118	24	dot	dot	NOUN
fumecheng-13939	118	25	above	above	ADP
fumecheng-13939	118	26	a	a	DET
fumecheng-13939	118	27	variable	variable	NOUN
fumecheng-13939	118	28	in	in	ADP
fumecheng-13939	118	29	the	the	DET
fumecheng-13939	118	30	text	text	NOUN
fumecheng-13939	118	31	indicates	indicate	VERB
fumecheng-13939	118	32	the	the	DET
fumecheng-13939	118	33	derivative	derivative	NOUN
fumecheng-13939	118	34	of	of	ADP
fumecheng-13939	118	35	that	that	DET
fumecheng-13939	118	36	variable	variable	NOUN
fumecheng-13939	118	37	with	with	ADP
fumecheng-13939	118	38	respect	respect	NOUN
fumecheng-13939	118	39	to	to	ADP
fumecheng-13939	118	40	time	time	NOUN
fumecheng-13939	118	41	.	.	PUNCT
fumecheng-13939	119	1	in	in	ADP
fumecheng-13939	119	2	the	the	DET
fumecheng-13939	119	3	uav	uav	PROPN
fumecheng-13939	119	4	system	system	NOUN
fumecheng-13939	119	5	,	,	PUNCT
fumecheng-13939	119	6	considering	consider	VERB
fumecheng-13939	119	7	the	the	DET
fumecheng-13939	119	8	combined	combine	VERB
fumecheng-13939	119	9	forces	force	NOUN
fumecheng-13939	119	10	of	of	ADP
fumecheng-13939	119	11	the	the	DET
fumecheng-13939	119	12	total	total	ADJ
fumecheng-13939	119	13	aerodynamic	aerodynamic	ADJ
fumecheng-13939	119	14	force	force	NOUN
fumecheng-13939	119	15	and	and	CCONJ
fumecheng-13939	119	16	engine	engine	NOUN
fumecheng-13939	119	17	thrust	thrust	VERB
fumecheng-13939	119	18	on	on	ADP
fumecheng-13939	119	19	various	various	ADJ
fumecheng-13939	119	20	coordinates	coordinate	NOUN
fumecheng-13939	119	21	bxf	bxf	NOUN
fumecheng-13939	119	22	,	,	PUNCT
fumecheng-13939	119	23	byf	byf	VERB
fumecheng-13939	119	24	and	and	CCONJ
fumecheng-13939	119	25	bzf	bzf	NOUN
fumecheng-13939	119	26	,	,	PUNCT
fumecheng-13939	119	27	gravity	gravity	NOUN
fumecheng-13939	119	28	g	g	NOUN
fumecheng-13939	119	29	is	be	AUX
fumecheng-13939	119	30	represented	represent	VERB
fumecheng-13939	119	31	via	via	ADP
fumecheng-13939	119	32	its	its	PRON
fumecheng-13939	119	33	components	component	NOUN
fumecheng-13939	119	34	with	with	ADP
fumecheng-13939	119	35	respect	respect	NOUN
fumecheng-13939	119	36	to	to	ADP
fumecheng-13939	119	37	the	the	DET
fumecheng-13939	119	38	dynamic	dynamic	ADJ
fumecheng-13939	119	39	coordinate	coordinate	NOUN
fumecheng-13939	119	40	system	system	NOUN
fumecheng-13939	119	41	.	.	PUNCT
fumecheng-13939	120	1	eq	eq	ADJ
fumecheng-13939	120	2	.	.	PUNCT
fumecheng-13939	121	1	(	(	PUNCT
fumecheng-13939	121	2	10	10	NUM
fumecheng-13939	121	3	)	)	PUNCT
fumecheng-13939	121	4	can	can	AUX
fumecheng-13939	121	5	be	be	AUX
fumecheng-13939	121	6	then	then	ADV
fumecheng-13939	121	7	rewritten	rewrite	VERB
fumecheng-13939	121	8	as	as	SCONJ
fumecheng-13939	121	9	follows	follow	VERB
fumecheng-13939	121	10	[	[	X
fumecheng-13939	121	11	25	25	NUM
fumecheng-13939	121	12	]	]	PUNCT
fumecheng-13939	121	13	:	:	PUNCT
fumecheng-13939	121	14	sin	sin	NOUN
fumecheng-13939	121	15	sin	sin	PROPN
fumecheng-13939	121	16	cos	cos	PROPN
fumecheng-13939	121	17	cos	cos	PROPN
fumecheng-13939	121	18	cos	cos	PROPN
fumecheng-13939	121	19	b	b	PROPN
fumecheng-13939	121	20	b	b	PROPN
fumecheng-13939	121	21	b	b	PROPN
fumecheng-13939	121	22	x	x	SYM
fumecheng-13939	121	23	y	y	PROPN
fumecheng-13939	121	24	z	z	NOUN
fumecheng-13939	121	25	f	f	NOUN
fumecheng-13939	122	1	u	u	INTJ
fumecheng-13939	122	2	vr	vr	VERB
fumecheng-13939	122	3	g	g	PROPN
fumecheng-13939	122	4	wq	wq	PROPN
fumecheng-13939	122	5	m	m	VERB
fumecheng-13939	122	6	f	f	NOUN
fumecheng-13939	123	1	v	v	INTJ
fumecheng-13939	123	2	wq	wq	INTJ
fumecheng-13939	123	3	ur	ur	INTJ
fumecheng-13939	123	4	g	g	PROPN
fumecheng-13939	123	5	m	m	PROPN
fumecheng-13939	123	6	f	f	PROPN
fumecheng-13939	123	7	w	w	PROPN
fumecheng-13939	123	8	uq	uq	PROPN
fumecheng-13939	124	1	vp	vp	PROPN
fumecheng-13939	124	2	g	g	PROPN
fumecheng-13939	124	3	m	m	PROPN
fumecheng-13939	124	4			NOUN
fumecheng-13939	124	5			NOUN
fumecheng-13939	124	6			NOUN
fumecheng-13939	124	7			NOUN
fumecheng-13939	124	8			NOUN
fumecheng-13939	125	1			NUM
fumecheng-13939	125	2			PROPN
fumecheng-13939	125	3			PROPN
fumecheng-13939	125	4			PROPN
fumecheng-13939	125	5			VERB
fumecheng-13939	125	6			DET
fumecheng-13939	125	7			NUM
fumecheng-13939	125	8			NUM
fumecheng-13939	125	9			PROPN
fumecheng-13939	125	10			PROPN
fumecheng-13939	125	11			ADV
fumecheng-13939	125	12			ADV
fumecheng-13939	125	13			PROPN
fumecheng-13939	125	14			NUM
fumecheng-13939	125	15			NUM
fumecheng-13939	125	16			PROPN
fumecheng-13939	125	17			PROPN
fumecheng-13939	125	18			ADV
fumecheng-13939	125	19			PUNCT
fumecheng-13939	125	20			X
fumecheng-13939	125	21			PROPN
fumecheng-13939	125	22			ADJ
fumecheng-13939	125	23			NOUN
fumecheng-13939	125	24			NOUN
fumecheng-13939	125	25	(	(	PUNCT
fumecheng-13939	125	26	11	11	NUM
fumecheng-13939	125	27	)	)	PUNCT
fumecheng-13939	125	28	the	the	DET
fumecheng-13939	125	29	resulting	result	VERB
fumecheng-13939	125	30	eq	eq	X
fumecheng-13939	125	31	.	.	PUNCT
fumecheng-13939	126	1	(	(	PUNCT
fumecheng-13939	126	2	11	11	NUM
fumecheng-13939	126	3	)	)	PUNCT
fumecheng-13939	126	4	represents	represent	VERB
fumecheng-13939	126	5	the	the	DET
fumecheng-13939	126	6	linear	linear	ADJ
fumecheng-13939	126	7	motion	motion	NOUN
fumecheng-13939	126	8	dynamics	dynamic	NOUN
fumecheng-13939	126	9	model	model	NOUN
fumecheng-13939	126	10	of	of	ADP
fumecheng-13939	126	11	the	the	DET
fumecheng-13939	126	12	uav	uav	PROPN
fumecheng-13939	126	13	.	.	PUNCT
fumecheng-13939	127	1	similarly	similarly	ADV
fumecheng-13939	127	2	,	,	PUNCT
fumecheng-13939	127	3	considering	consider	VERB
fumecheng-13939	127	4	the	the	DET
fumecheng-13939	127	5	angular	angular	ADJ
fumecheng-13939	127	6	motion	motion	NOUN
fumecheng-13939	127	7	dynamics	dynamic	NOUN
fumecheng-13939	127	8	model	model	NOUN
fumecheng-13939	127	9	of	of	ADP
fumecheng-13939	127	10	the	the	DET
fumecheng-13939	127	11	uav	uav	PROPN
fumecheng-13939	127	12	,	,	PUNCT
fumecheng-13939	127	13	eq	eq	PROPN
fumecheng-13939	127	14	.	.	PUNCT
fumecheng-13939	128	1	(	(	PUNCT
fumecheng-13939	128	2	4	4	X
fumecheng-13939	128	3	)	)	PUNCT
fumecheng-13939	128	4	can	can	AUX
fumecheng-13939	128	5	be	be	AUX
fumecheng-13939	128	6	suitably	suitably	ADV
fumecheng-13939	128	7	rewritten	rewrite	VERB
fumecheng-13939	128	8	as	as	SCONJ
fumecheng-13939	128	9	it	it	PRON
fumecheng-13939	128	10	will	will	AUX
fumecheng-13939	128	11	be	be	AUX
fumecheng-13939	128	12	demonstrated	demonstrate	VERB
fumecheng-13939	128	13	below	below	ADV
fumecheng-13939	128	14	.	.	PUNCT
fumecheng-13939	129	1	the	the	DET
fumecheng-13939	129	2	first	first	ADJ
fumecheng-13939	129	3	term	term	NOUN
fumecheng-13939	129	4	on	on	ADP
fumecheng-13939	129	5	the	the	DET
fumecheng-13939	129	6	right	right	ADJ
fumecheng-13939	129	7	-	-	PUNCT
fumecheng-13939	129	8	hand	hand	NOUN
fumecheng-13939	129	9	side	side	NOUN
fumecheng-13939	129	10	of	of	ADP
fumecheng-13939	129	11	eq	eq	PROPN
fumecheng-13939	129	12	.	.	PUNCT
fumecheng-13939	130	1	(	(	PUNCT
fumecheng-13939	130	2	4	4	X
fumecheng-13939	130	3	)	)	PUNCT
fumecheng-13939	130	4	is	be	AUX
fumecheng-13939	130	5	:	:	PUNCT
fumecheng-13939	130	6	b	b	X
fumecheng-13939	130	7	b	b	X
fumecheng-13939	130	8	bx	bx	NOUN
fumecheng-13939	130	9	y	y	PROPN
fumecheng-13939	130	10	zl	zl	PROPN
fumecheng-13939	130	11	l	l	X
fumecheng-13939	130	12	l	l	NOUN
fumecheng-13939	131	1	t	t	NOUN
fumecheng-13939	131	2	t	t	PROPN
fumecheng-13939	131	3	t	t	PROPN
fumecheng-13939	131	4	t	t	PROPN
fumecheng-13939	131	5			NUM
fumecheng-13939	131	6			NUM
fumecheng-13939	131	7			X
fumecheng-13939	131	8			NUM
fumecheng-13939	131	9			NUM
fumecheng-13939	131	10			NUM
fumecheng-13939	131	11			NUM
fumecheng-13939	131	12			PROPN
fumecheng-13939	131	13			PROPN
fumecheng-13939	131	14	l	l	PROPN
fumecheng-13939	131	15	l	l	NOUN
fumecheng-13939	132	1	i	i	PRON
fumecheng-13939	133	1	i	i	INTJ
fumecheng-13939	133	2	j	j	PROPN
fumecheng-13939	134	1	k	k	PROPN
fumecheng-13939	134	2	(	(	PUNCT
fumecheng-13939	134	3	12	12	NUM
fumecheng-13939	134	4	)	)	PUNCT
fumecheng-13939	134	5	where	where	SCONJ
fumecheng-13939	134	6	,	,	PUNCT
fumecheng-13939	134	7	b	b	X
fumecheng-13939	134	8	bx	bx	NOUN
fumecheng-13939	134	9	yl	yl	NOUN
fumecheng-13939	134	10	l	l	PROPN
fumecheng-13939	134	11	and	and	CCONJ
fumecheng-13939	134	12	bzl	bzl	NOUN
fumecheng-13939	134	13	denote	denote	VERB
fumecheng-13939	134	14	the	the	DET
fumecheng-13939	134	15	components	component	NOUN
fumecheng-13939	134	16	of	of	ADP
fumecheng-13939	134	17	the	the	DET
fumecheng-13939	134	18	moment	moment	NOUN
fumecheng-13939	134	19	of	of	ADP
fumecheng-13939	134	20	momentum	momentum	NOUN
fumecheng-13939	134	21	with	with	ADP
fumecheng-13939	134	22	respect	respect	NOUN
fumecheng-13939	134	23	to	to	ADP
fumecheng-13939	134	24	the	the	DET
fumecheng-13939	134	25	xb	xb	PROPN
fumecheng-13939	134	26	-	-	PUNCT
fumecheng-13939	134	27	axis	axis	ADJ
fumecheng-13939	134	28	,	,	PUNCT
fumecheng-13939	134	29	yb	yb	NOUN
fumecheng-13939	134	30	-	-	PUNCT
fumecheng-13939	134	31	axis	axis	NOUN
fumecheng-13939	134	32	and	and	CCONJ
fumecheng-13939	134	33	zb	zb	NOUN
fumecheng-13939	134	34	-	-	PUNCT
fumecheng-13939	134	35	axis	axis	ADJ
fumecheng-13939	134	36	,	,	PUNCT
fumecheng-13939	134	37	respectively	respectively	ADV
fumecheng-13939	134	38	.	.	PUNCT
fumecheng-13939	135	1	the	the	DET
fumecheng-13939	135	2	right	right	ADJ
fumecheng-13939	135	3	hand	hand	NOUN
fumecheng-13939	135	4	-	-	PUNCT
fumecheng-13939	135	5	side	side	NOUN
fumecheng-13939	135	6	of	of	ADP
fumecheng-13939	135	7	the	the	DET
fumecheng-13939	135	8	equation	equation	NOUN
fumecheng-13939	135	9	can	can	AUX
fumecheng-13939	135	10	be	be	AUX
fumecheng-13939	135	11	decomposed	decompose	VERB
fumecheng-13939	135	12	into	into	ADP
fumecheng-13939	135	13	:	:	PUNCT
fumecheng-13939	135	14	fault	fault	VERB
fumecheng-13939	135	15	-	-	PUNCT
fumecheng-13939	135	16	tolerant	tolerant	ADJ
fumecheng-13939	135	17	control	control	NOUN
fumecheng-13939	135	18	of	of	ADP
fumecheng-13939	135	19	low	low	ADJ
fumecheng-13939	135	20	-	-	PUNCT
fumecheng-13939	135	21	altitude	altitude	NOUN
fumecheng-13939	135	22	unmanned	unmanned	ADJ
fumecheng-13939	135	23	aerial	aerial	ADJ
fumecheng-13939	135	24	vehicle	vehicle	NOUN
fumecheng-13939	135	25	swarms	swarm	NOUN
fumecheng-13939	135	26	using	use	VERB
fumecheng-13939	135	27	...	...	PUNCT
fumecheng-13939	135	28	7	7	NUM
fumecheng-13939	135	29	b	b	PROPN
fumecheng-13939	135	30	b	b	PROPN
fumecheng-13939	135	31	b	b	PROPN
fumecheng-13939	135	32	b	b	PROPN
fumecheng-13939	135	33	b	b	PROPN
fumecheng-13939	135	34	b	b	PROPN
fumecheng-13939	135	35	b	b	PROPN
fumecheng-13939	135	36	b	b	PROPN
fumecheng-13939	135	37	b	b	PROPN
fumecheng-13939	135	38	b	b	PROPN
fumecheng-13939	135	39	x	x	SYM
fumecheng-13939	135	40	x	x	SYM
fumecheng-13939	135	41	x	x	SYM
fumecheng-13939	135	42	z	z	VERB
fumecheng-13939	135	43	y	y	PROPN
fumecheng-13939	135	44	y	y	PROPN
fumecheng-13939	135	45	z	z	NOUN
fumecheng-13939	135	46	z	z	NOUN
fumecheng-13939	135	47	x	x	SYM
fumecheng-13939	135	48	z	z	NOUN
fumecheng-13939	135	49	l	l	NOUN
fumecheng-13939	135	50	pi	pi	NOUN
fumecheng-13939	135	51	ri	ri	PROPN
fumecheng-13939	135	52	t	t	PROPN
fumecheng-13939	135	53	l	l	PROPN
fumecheng-13939	135	54	qi	qi	PROPN
fumecheng-13939	135	55	t	t	PROPN
fumecheng-13939	135	56	l	l	PROPN
fumecheng-13939	135	57	ri	ri	PROPN
fumecheng-13939	135	58	pi	pi	PROPN
fumecheng-13939	135	59	t	t	PROPN
fumecheng-13939	136	1			NUM
fumecheng-13939	136	2			NUM
fumecheng-13939	136	3			NUM
fumecheng-13939	136	4			NUM
fumecheng-13939	136	5			NUM
fumecheng-13939	136	6			NUM
fumecheng-13939	136	7			NUM
fumecheng-13939	136	8			NUM
fumecheng-13939	136	9			NOUN
fumecheng-13939	136	10			NUM
fumecheng-13939	136	11			NUM
fumecheng-13939	136	12			NUM
fumecheng-13939	136	13			NOUN
fumecheng-13939	136	14			NOUN
fumecheng-13939	136	15			NUM
fumecheng-13939	136	16			NUM
fumecheng-13939	136	17			PROPN
fumecheng-13939	136	18			PROPN
fumecheng-13939	136	19			CCONJ
fumecheng-13939	136	20			PROPN
fumecheng-13939	136	21			ADJ
fumecheng-13939	136	22			NOUN
fumecheng-13939	136	23			NOUN
fumecheng-13939	136	24			NOUN
fumecheng-13939	136	25			NOUN
fumecheng-13939	136	26	(	(	PUNCT
fumecheng-13939	136	27	13	13	NUM
fumecheng-13939	136	28	)	)	PUNCT
fumecheng-13939	136	29	where	where	SCONJ
fumecheng-13939	136	30	bxi	bxi	NOUN
fumecheng-13939	136	31	,	,	PUNCT
fumecheng-13939	136	32	byi	byi	PROPN
fumecheng-13939	136	33	and	and	CCONJ
fumecheng-13939	136	34	bzi	bzi	ADV
fumecheng-13939	136	35	are	be	AUX
fumecheng-13939	136	36	the	the	DET
fumecheng-13939	136	37	moments	moment	NOUN
fumecheng-13939	136	38	of	of	ADP
fumecheng-13939	136	39	inertia	inertia	NOUN
fumecheng-13939	136	40	of	of	ADP
fumecheng-13939	136	41	the	the	DET
fumecheng-13939	136	42	uav	uav	PROPN
fumecheng-13939	136	43	with	with	ADP
fumecheng-13939	136	44	respect	respect	NOUN
fumecheng-13939	136	45	to	to	ADP
fumecheng-13939	136	46	the	the	DET
fumecheng-13939	136	47	xb	xb	PROPN
fumecheng-13939	136	48	-	-	PUNCT
fumecheng-13939	136	49	axis	axis	ADJ
fumecheng-13939	136	50	,	,	PUNCT
fumecheng-13939	136	51	yb	yb	NOUN
fumecheng-13939	136	52	-	-	PUNCT
fumecheng-13939	136	53	axis	axis	NOUN
fumecheng-13939	136	54	and	and	CCONJ
fumecheng-13939	136	55	zb	zb	NOUN
fumecheng-13939	136	56	-	-	PUNCT
fumecheng-13939	136	57	axis	axis	ADJ
fumecheng-13939	136	58	,	,	PUNCT
fumecheng-13939	136	59	respectively	respectively	ADV
fumecheng-13939	136	60	,	,	PUNCT
fumecheng-13939	136	61	and	and	CCONJ
fumecheng-13939	136	62	b	b	X
fumecheng-13939	136	63	bx	bx	PROPN
fumecheng-13939	136	64	zi	zi	PROPN
fumecheng-13939	136	65	is	be	AUX
fumecheng-13939	136	66	the	the	DET
fumecheng-13939	136	67	product	product	NOUN
fumecheng-13939	136	68	of	of	ADP
fumecheng-13939	136	69	inertia	inertia	NOUN
fumecheng-13939	136	70	of	of	ADP
fumecheng-13939	136	71	the	the	DET
fumecheng-13939	136	72	uav	uav	PROPN
fumecheng-13939	136	73	with	with	ADP
fumecheng-13939	136	74	respect	respect	NOUN
fumecheng-13939	136	75	to	to	ADP
fumecheng-13939	136	76	the	the	DET
fumecheng-13939	136	77	xb	xb	PROPN
fumecheng-13939	136	78	-	-	PUNCT
fumecheng-13939	136	79	axis	axis	NOUN
fumecheng-13939	136	80	and	and	CCONJ
fumecheng-13939	136	81	zb	zb	X
fumecheng-13939	136	82	-axis	-axis	PROPN
fumecheng-13939	136	83	.	.	PUNCT
fumecheng-13939	137	1	the	the	DET
fumecheng-13939	137	2	second	second	ADJ
fumecheng-13939	137	3	term	term	NOUN
fumecheng-13939	137	4	on	on	ADP
fumecheng-13939	137	5	the	the	DET
fumecheng-13939	137	6	right	right	ADJ
fumecheng-13939	137	7	-	-	PUNCT
fumecheng-13939	137	8	hand	hand	NOUN
fumecheng-13939	137	9	side	side	NOUN
fumecheng-13939	137	10	of	of	ADP
fumecheng-13939	137	11	eq	eq	PROPN
fumecheng-13939	137	12	.	.	PUNCT
fumecheng-13939	138	1	(	(	PUNCT
fumecheng-13939	138	2	4	4	X
fumecheng-13939	138	3	)	)	PUNCT
fumecheng-13939	138	4	can	can	AUX
fumecheng-13939	138	5	be	be	AUX
fumecheng-13939	138	6	rewritten	rewrite	VERB
fumecheng-13939	138	7	as	as	SCONJ
fumecheng-13939	138	8	follows	follow	VERB
fumecheng-13939	138	9	:	:	PUNCT
fumecheng-13939	138	10	(	(	PUNCT
fumecheng-13939	138	11	)	)	PUNCT
fumecheng-13939	138	12	(	(	PUNCT
fumecheng-13939	138	13	)	)	PUNCT
fumecheng-13939	138	14	(	(	PUNCT
fumecheng-13939	138	15	)	)	PUNCT
fumecheng-13939	139	1	b	b	X
fumecheng-13939	139	2	b	b	X
fumecheng-13939	139	3	b	b	PROPN
fumecheng-13939	139	4	b	b	PROPN
fumecheng-13939	139	5	b	b	PROPN
fumecheng-13939	139	6	b	b	PROPN
fumecheng-13939	139	7	b	b	PROPN
fumecheng-13939	139	8	b	b	PROPN
fumecheng-13939	139	9	b	b	PROPN
fumecheng-13939	139	10	z	z	NOUN
fumecheng-13939	139	11	y	y	PROPN
fumecheng-13939	139	12	x	x	X
fumecheng-13939	139	13	z	z	VERB
fumecheng-13939	139	14	y	y	NOUN
fumecheng-13939	139	15	x	x	PUNCT
fumecheng-13939	139	16	x	x	PUNCT
fumecheng-13939	139	17	y	y	NOUN
fumecheng-13939	139	18	z	z	PROPN
fumecheng-13939	139	19	p	p	NOUN
fumecheng-13939	139	20	q	q	NOUN
fumecheng-13939	139	21	r	r	NOUN
fumecheng-13939	139	22	ql	ql	X
fumecheng-13939	139	23	rl	rl	X
fumecheng-13939	139	24	rl	rl	X
fumecheng-13939	139	25	pl	pl	PROPN
fumecheng-13939	139	26	pl	pl	X
fumecheng-13939	139	27	ql	ql	X
fumecheng-13939	139	28	l	l	NOUN
fumecheng-13939	139	29	l	l	NOUN
fumecheng-13939	139	30	l	l	NOUN
fumecheng-13939	139	31			NOUN
fumecheng-13939	140	1			PROPN
fumecheng-13939	140	2			PROPN
fumecheng-13939	140	3			PROPN
fumecheng-13939	140	4			VERB
fumecheng-13939	140	5			PROPN
fumecheng-13939	140	6			VERB
fumecheng-13939	140	7			PROPN
fumecheng-13939	140	8	i	i	PRON
fumecheng-13939	140	9	j	j	PROPN
fumecheng-13939	141	1	k	k	PROPN
fumecheng-13939	141	2	l	l	NOUN
fumecheng-13939	142	1	i	i	PRON
fumecheng-13939	142	2	j	j	PROPN
fumecheng-13939	142	3	k	k	NOUN
fumecheng-13939	142	4	(	(	PUNCT
fumecheng-13939	142	5	14	14	NUM
fumecheng-13939	142	6	)	)	PUNCT
fumecheng-13939	142	7	by	by	ADP
fumecheng-13939	142	8	decomposing	decompose	VERB
fumecheng-13939	142	9	the	the	DET
fumecheng-13939	142	10	combined	combined	ADJ
fumecheng-13939	142	11	torque	torque	NOUN
fumecheng-13939	142	12	into	into	ADP
fumecheng-13939	142	13	each	each	DET
fumecheng-13939	142	14	axis	axis	NOUN
fumecheng-13939	142	15	of	of	ADP
fumecheng-13939	142	16	the	the	DET
fumecheng-13939	142	17	dynamic	dynamic	ADJ
fumecheng-13939	142	18	coordinate	coordinate	NOUN
fumecheng-13939	142	19	system	system	NOUN
fumecheng-13939	142	20	and	and	CCONJ
fumecheng-13939	142	21	synthesizing	synthesize	VERB
fumecheng-13939	142	22	eq	eq	X
fumecheng-13939	142	23	.	.	PUNCT
fumecheng-13939	143	1	(	(	PUNCT
fumecheng-13939	143	2	2	2	NUM
fumecheng-13939	143	3	)	)	PUNCT
fumecheng-13939	143	4	and	and	CCONJ
fumecheng-13939	143	5	eqs	eqs	PROPN
fumecheng-13939	143	6	.	.	PUNCT
fumecheng-13939	144	1	(	(	PUNCT
fumecheng-13939	144	2	12	12	NUM
fumecheng-13939	144	3	-	-	SYM
fumecheng-13939	144	4	14	14	NUM
fumecheng-13939	144	5	)	)	PUNCT
fumecheng-13939	144	6	,	,	PUNCT
fumecheng-13939	144	7	the	the	DET
fumecheng-13939	144	8	angular	angular	ADJ
fumecheng-13939	144	9	motion	motion	NOUN
fumecheng-13939	144	10	dynamics	dynamic	NOUN
fumecheng-13939	144	11	equation	equation	NOUN
fumecheng-13939	144	12	of	of	ADP
fumecheng-13939	144	13	the	the	DET
fumecheng-13939	144	14	uav	uav	PROPN
fumecheng-13939	144	15	can	can	AUX
fumecheng-13939	144	16	be	be	AUX
fumecheng-13939	144	17	obtained	obtain	VERB
fumecheng-13939	144	18	:	:	PUNCT
fumecheng-13939	144	19	2	2	NUM
fumecheng-13939	144	20	2	2	NUM
fumecheng-13939	144	21	2	2	NUM
fumecheng-13939	144	22	2	2	NUM
fumecheng-13939	144	23	2	2	NUM
fumecheng-13939	144	24	2	2	NUM
fumecheng-13939	144	25	2	2	NUM
fumecheng-13939	144	26	2	2	NUM
fumecheng-13939	144	27	[	[	PUNCT
fumecheng-13939	144	28	(	(	PUNCT
fumecheng-13939	144	29	)	)	PUNCT
fumecheng-13939	144	30	(	(	PUNCT
fumecheng-13939	144	31	)	)	PUNCT
fumecheng-13939	144	32	]	]	PUNCT
fumecheng-13939	144	33	/	/	SYM
fumecheng-13939	144	34	(	(	PUNCT
fumecheng-13939	144	35	)	)	PUNCT
fumecheng-13939	144	36	[	[	PUNCT
fumecheng-13939	144	37	(	(	PUNCT
fumecheng-13939	144	38	)	)	PUNCT
fumecheng-13939	144	39	(	(	PUNCT
fumecheng-13939	144	40	)	)	PUNCT
fumecheng-13939	144	41	]	]	PUNCT
fumecheng-13939	144	42	/	/	PUNCT
fumecheng-13939	145	1	[	[	PUNCT
fumecheng-13939	145	2	(	(	PUNCT
fumecheng-13939	145	3	)	)	PUNCT
fumecheng-13939	145	4	(	(	PUNCT
fumecheng-13939	145	5	)	)	PUNCT
fumecheng-13939	145	6	]	]	PUNCT
fumecheng-13939	145	7	/	/	PUNCT
fumecheng-13939	145	8	(	(	PUNCT
fumecheng-13939	145	9	)	)	PUNCT
fumecheng-13939	145	10	b	b	PROPN
fumecheng-13939	145	11	b	b	X
fumecheng-13939	145	12	b	b	PROPN
fumecheng-13939	145	13	b	b	PROPN
fumecheng-13939	145	14	b	b	PROPN
fumecheng-13939	145	15	b	b	PROPN
fumecheng-13939	145	16	b	b	PROPN
fumecheng-13939	145	17	b	b	PROPN
fumecheng-13939	145	18	b	b	PROPN
fumecheng-13939	145	19	b	b	PROPN
fumecheng-13939	145	20	b	b	PROPN
fumecheng-13939	145	21	b	b	PROPN
fumecheng-13939	145	22	b	b	PROPN
fumecheng-13939	145	23	b	b	PROPN
fumecheng-13939	145	24	b	b	PROPN
fumecheng-13939	145	25	b	b	PROPN
fumecheng-13939	145	26	b	b	PROPN
fumecheng-13939	145	27	b	b	PROPN
fumecheng-13939	145	28	b	b	PROPN
fumecheng-13939	145	29	b	b	PROPN
fumecheng-13939	145	30	b	b	PROPN
fumecheng-13939	145	31	b	b	PROPN
fumecheng-13939	145	32	b	b	PROPN
fumecheng-13939	145	33	b	b	PROPN
fumecheng-13939	145	34	b	b	PROPN
fumecheng-13939	145	35	b	b	PROPN
fumecheng-13939	145	36	b	b	PROPN
fumecheng-13939	145	37	b	b	PROPN
fumecheng-13939	145	38	b	b	PROPN
fumecheng-13939	145	39	b	b	PROPN
fumecheng-13939	145	40	b	b	PROPN
fumecheng-13939	145	41	b	b	PROPN
fumecheng-13939	145	42	b	b	PROPN
fumecheng-13939	145	43	b	b	PROPN
fumecheng-13939	145	44	b	b	PROPN
fumecheng-13939	145	45	b	b	PROPN
fumecheng-13939	145	46	b	b	PROPN
fumecheng-13939	145	47	b	b	PROPN
fumecheng-13939	145	48	b	b	PROPN
fumecheng-13939	145	49	b	b	PROPN
fumecheng-13939	145	50	b	b	PROPN
fumecheng-13939	145	51	b	b	PROPN
fumecheng-13939	145	52	b	b	PROPN
fumecheng-13939	145	53	b	b	PROPN
fumecheng-13939	145	54	z	z	NOUN
fumecheng-13939	145	55	x	x	X
fumecheng-13939	145	56	x	x	X
fumecheng-13939	145	57	z	z	NOUN
fumecheng-13939	145	58	z	z	NOUN
fumecheng-13939	145	59	z	z	NOUN
fumecheng-13939	145	60	x	x	PUNCT
fumecheng-13939	145	61	z	z	NOUN
fumecheng-13939	145	62	y	y	NOUN
fumecheng-13939	145	63	z	z	NOUN
fumecheng-13939	145	64	x	x	SYM
fumecheng-13939	145	65	z	z	PUNCT
fumecheng-13939	145	66	x	x	PUNCT
fumecheng-13939	145	67	y	y	NOUN
fumecheng-13939	145	68	z	z	NOUN
fumecheng-13939	145	69	x	x	X
fumecheng-13939	145	70	z	z	NOUN
fumecheng-13939	145	71	x	x	X
fumecheng-13939	145	72	z	z	NOUN
fumecheng-13939	145	73	x	x	X
fumecheng-13939	145	74	z	z	NOUN
fumecheng-13939	145	75	y	y	NOUN
fumecheng-13939	145	76	x	x	X
fumecheng-13939	145	77	z	z	VERB
fumecheng-13939	145	78	y	y	PROPN
fumecheng-13939	145	79	x	x	X
fumecheng-13939	145	80	z	z	NOUN
fumecheng-13939	145	81	x	x	PUNCT
fumecheng-13939	145	82	x	x	X
fumecheng-13939	145	83	z	z	NOUN
fumecheng-13939	145	84	x	x	X
fumecheng-13939	145	85	x	x	X
fumecheng-13939	145	86	z	z	NOUN
fumecheng-13939	145	87	x	x	SYM
fumecheng-13939	145	88	y	y	NOUN
fumecheng-13939	145	89	x	x	X
fumecheng-13939	145	90	z	z	NOUN
fumecheng-13939	145	91	x	x	PUNCT
fumecheng-13939	145	92	y	y	NOUN
fumecheng-13939	145	93	z	z	NOUN
fumecheng-13939	145	94	x	x	X
fumecheng-13939	145	95	z	z	NOUN
fumecheng-13939	145	96	x	x	X
fumecheng-13939	145	97	z	z	NOUN
fumecheng-13939	146	1	p	p	X
fumecheng-13939	146	2	i	i	PRON
fumecheng-13939	146	3	m	m	VERB
fumecheng-13939	146	4	i	i	PRON
fumecheng-13939	146	5	m	m	VERB
fumecheng-13939	147	1	i	i	INTJ
fumecheng-13939	147	2	i	i	PRON
fumecheng-13939	148	1	i	i	PRON
fumecheng-13939	149	1	i	i	PRON
fumecheng-13939	149	2	qr	qr	VERB
fumecheng-13939	149	3	i	i	PRON
fumecheng-13939	150	1	i	i	PRON
fumecheng-13939	150	2	i	i	PRON
fumecheng-13939	151	1	i	i	PRON
fumecheng-13939	151	2	pq	pq	VERB
fumecheng-13939	152	1	i	i	PRON
fumecheng-13939	153	1	i	i	PRON
fumecheng-13939	154	1	i	i	PRON
fumecheng-13939	154	2	q	q	VERB
fumecheng-13939	155	1	pr	pr	INTJ
fumecheng-13939	156	1	i	i	PRON
fumecheng-13939	157	1	i	i	PRON
fumecheng-13939	157	2	m	m	VERB
fumecheng-13939	158	1	i	i	PRON
fumecheng-13939	158	2	p	p	NOUN
fumecheng-13939	159	1	r	r	NOUN
fumecheng-13939	160	1	i	i	NOUN
fumecheng-13939	160	2	r	r	VERB
fumecheng-13939	161	1	i	i	PRON
fumecheng-13939	161	2	m	m	VERB
fumecheng-13939	161	3	i	i	PRON
fumecheng-13939	161	4	m	m	VERB
fumecheng-13939	162	1	i	i	INTJ
fumecheng-13939	162	2	i	i	PRON
fumecheng-13939	163	1	i	i	PRON
fumecheng-13939	164	1	i	i	PRON
fumecheng-13939	164	2	pq	pq	VERB
fumecheng-13939	165	1	i	i	PRON
fumecheng-13939	166	1	i	i	PRON
fumecheng-13939	167	1	i	i	PRON
fumecheng-13939	168	1	i	i	PRON
fumecheng-13939	168	2	qr	qr	VERB
fumecheng-13939	168	3	i	i	PRON
fumecheng-13939	169	1	i	i	PRON
fumecheng-13939	169	2	i	i	PRON
fumecheng-13939	169	3			VERB
fumecheng-13939	170	1			NUM
fumecheng-13939	170	2			PUNCT
fumecheng-13939	170	3			PROPN
fumecheng-13939	170	4			VERB
fumecheng-13939	170	5			PROPN
fumecheng-13939	170	6			VERB
fumecheng-13939	170	7			PROPN
fumecheng-13939	170	8			VERB
fumecheng-13939	170	9			PROPN
fumecheng-13939	170	10			PROPN
fumecheng-13939	170	11			PROPN
fumecheng-13939	170	12			PROPN
fumecheng-13939	170	13			PUNCT
fumecheng-13939	170	14			PUNCT
fumecheng-13939	170	15			X
fumecheng-13939	170	16			PROPN
fumecheng-13939	170	17			PROPN
fumecheng-13939	170	18			PUNCT
fumecheng-13939	170	19			PUNCT
fumecheng-13939	170	20			PROPN
fumecheng-13939	170	21			PROPN
fumecheng-13939	170	22			PROPN
fumecheng-13939	170	23			PUNCT
fumecheng-13939	170	24			NOUN
fumecheng-13939	170	25			NOUN
fumecheng-13939	170	26			NOUN
fumecheng-13939	170	27			NOUN
fumecheng-13939	170	28			NUM
fumecheng-13939	170	29			NUM
fumecheng-13939	170	30			PROPN
fumecheng-13939	170	31	(	(	PUNCT
fumecheng-13939	170	32	15	15	NUM
fumecheng-13939	170	33	)	)	PUNCT
fumecheng-13939	170	34	where	where	SCONJ
fumecheng-13939	170	35	bxm	bxm	NOUN
fumecheng-13939	170	36	,	,	PUNCT
fumecheng-13939	170	37	bym	bym	PROPN
fumecheng-13939	170	38	and	and	CCONJ
fumecheng-13939	170	39	bzm	bzm	NOUN
fumecheng-13939	170	40	are	be	AUX
fumecheng-13939	170	41	the	the	DET
fumecheng-13939	170	42	torque	torque	NOUN
fumecheng-13939	170	43	components	component	NOUN
fumecheng-13939	170	44	about	about	ADP
fumecheng-13939	170	45	the	the	DET
fumecheng-13939	170	46	xb-	xb-	PROPN
fumecheng-13939	170	47	,	,	PUNCT
fumecheng-13939	170	48	yb-	yb-	X
fumecheng-13939	170	49	,	,	PUNCT
fumecheng-13939	170	50	and	and	CCONJ
fumecheng-13939	170	51	zb	zb	NOUN
fumecheng-13939	170	52	-	-	PUNCT
fumecheng-13939	170	53	axis	axis	ADJ
fumecheng-13939	170	54	,	,	PUNCT
fumecheng-13939	170	55	respectively	respectively	ADV
fumecheng-13939	170	56	.	.	PUNCT
fumecheng-13939	171	1	eqs	eqs	PROPN
fumecheng-13939	171	2	.	.	PUNCT
fumecheng-13939	171	3	(	(	PUNCT
fumecheng-13939	171	4	11)-(15	11)-(15	X
fumecheng-13939	171	5	)	)	PUNCT
fumecheng-13939	171	6	constitute	constitute	VERB
fumecheng-13939	171	7	the	the	DET
fumecheng-13939	171	8	dynamic	dynamic	ADJ
fumecheng-13939	171	9	model	model	NOUN
fumecheng-13939	171	10	of	of	ADP
fumecheng-13939	171	11	a	a	DET
fumecheng-13939	171	12	uav	uav	PROPN
fumecheng-13939	171	13	.	.	PUNCT
fumecheng-13939	172	1	to	to	PART
fumecheng-13939	172	2	further	far	ADV
fumecheng-13939	172	3	describe	describe	VERB
fumecheng-13939	172	4	the	the	DET
fumecheng-13939	172	5	motion	motion	NOUN
fumecheng-13939	172	6	of	of	ADP
fumecheng-13939	172	7	the	the	DET
fumecheng-13939	172	8	uav	uav	PROPN
fumecheng-13939	172	9	,	,	PUNCT
fumecheng-13939	172	10	a	a	DET
fumecheng-13939	172	11	kinematic	kinematic	ADJ
fumecheng-13939	172	12	model	model	NOUN
fumecheng-13939	172	13	needs	need	VERB
fumecheng-13939	172	14	to	to	PART
fumecheng-13939	172	15	be	be	AUX
fumecheng-13939	172	16	constructed	construct	VERB
fumecheng-13939	172	17	.	.	PUNCT
fumecheng-13939	173	1	in	in	ADP
fumecheng-13939	173	2	the	the	DET
fumecheng-13939	173	3	inertial	inertial	ADJ
fumecheng-13939	173	4	system	system	NOUN
fumecheng-13939	173	5	,	,	PUNCT
fumecheng-13939	173	6	it	it	PRON
fumecheng-13939	173	7	can	can	AUX
fumecheng-13939	173	8	be	be	AUX
fumecheng-13939	173	9	obtained	obtain	VERB
fumecheng-13939	173	10	from	from	ADP
fumecheng-13939	173	11	geometric	geometric	ADJ
fumecheng-13939	173	12	relationships	relationship	NOUN
fumecheng-13939	173	13	:	:	PUNCT
fumecheng-13939	173	14	tan	tan	PROPN
fumecheng-13939	173	15	sin	sin	PROPN
fumecheng-13939	173	16	tan	tan	PROPN
fumecheng-13939	173	17	cos	cos	PROPN
fumecheng-13939	173	18	sin	sin	PROPN
fumecheng-13939	173	19	cos	cos	PROPN
fumecheng-13939	173	20	(	(	PUNCT
fumecheng-13939	173	21	cos	cos	ADP
fumecheng-13939	173	22	sin	sin	PROPN
fumecheng-13939	173	23	)	)	PUNCT
fumecheng-13939	173	24	/	/	SYM
fumecheng-13939	174	1	cos	cos	NOUN
fumecheng-13939	174	2	q	q	NOUN
fumecheng-13939	174	3	r	r	NOUN
fumecheng-13939	174	4	p	p	NOUN
fumecheng-13939	174	5	r	r	NOUN
fumecheng-13939	174	6	q	q	NOUN
fumecheng-13939	174	7	r	r	NOUN
fumecheng-13939	174	8	q	q	NOUN
fumecheng-13939	174	9			NOUN
fumecheng-13939	174	10			NOUN
fumecheng-13939	174	11			NOUN
fumecheng-13939	174	12			NOUN
fumecheng-13939	174	13			NOUN
fumecheng-13939	174	14			NOUN
fumecheng-13939	174	15			NOUN
fumecheng-13939	174	16			NOUN
fumecheng-13939	174	17			NUM
fumecheng-13939	174	18			NOUN
fumecheng-13939	174	19			NOUN
fumecheng-13939	174	20			X
fumecheng-13939	174	21			ADP
fumecheng-13939	174	22			PROPN
fumecheng-13939	174	23			ADV
fumecheng-13939	174	24			PUNCT
fumecheng-13939	174	25			NUM
fumecheng-13939	174	26			PROPN
fumecheng-13939	174	27			PROPN
fumecheng-13939	174	28			VERB
fumecheng-13939	174	29			PRON
fumecheng-13939	174	30			NOUN
fumecheng-13939	174	31			ADJ
fumecheng-13939	174	32			ADJ
fumecheng-13939	174	33			NOUN
fumecheng-13939	174	34			NOUN
fumecheng-13939	174	35	(	(	PUNCT
fumecheng-13939	174	36	16	16	NUM
fumecheng-13939	174	37	)	)	PUNCT
fumecheng-13939	174	38	eqs	eqs	PROPN
fumecheng-13939	174	39	.	.	PUNCT
fumecheng-13939	175	1	(	(	PUNCT
fumecheng-13939	175	2	11	11	NUM
fumecheng-13939	175	3	)	)	PUNCT
fumecheng-13939	175	4	,	,	PUNCT
fumecheng-13939	175	5	(	(	PUNCT
fumecheng-13939	175	6	15	15	NUM
fumecheng-13939	175	7	)	)	PUNCT
fumecheng-13939	175	8	and	and	CCONJ
fumecheng-13939	175	9	(	(	PUNCT
fumecheng-13939	175	10	16	16	NUM
fumecheng-13939	175	11	)	)	PUNCT
fumecheng-13939	175	12	establish	establish	VERB
fumecheng-13939	175	13	the	the	DET
fumecheng-13939	175	14	complete	complete	ADJ
fumecheng-13939	175	15	motion	motion	NOUN
fumecheng-13939	175	16	model	model	NOUN
fumecheng-13939	175	17	(	(	PUNCT
fumecheng-13939	175	18	including	include	VERB
fumecheng-13939	175	19	dynamics	dynamic	NOUN
fumecheng-13939	175	20	and	and	CCONJ
fumecheng-13939	175	21	kinematics	kinematic	NOUN
fumecheng-13939	175	22	)	)	PUNCT
fumecheng-13939	175	23	of	of	ADP
fumecheng-13939	175	24	a	a	DET
fumecheng-13939	175	25	single	single	ADJ
fumecheng-13939	175	26	uav	uav	PROPN
fumecheng-13939	175	27	,	,	PUNCT
fumecheng-13939	175	28	which	which	PRON
fumecheng-13939	175	29	is	be	AUX
fumecheng-13939	175	30	the	the	DET
fumecheng-13939	175	31	six	six	NUM
fumecheng-13939	175	32	-	-	PUNCT
fumecheng-13939	175	33	degree	degree	NOUN
fumecheng-13939	175	34	-	-	PUNCT
fumecheng-13939	175	35	of	of	ADP
fumecheng-13939	175	36	-	-	PUNCT
fumecheng-13939	175	37	freedom	freedom	NOUN
fumecheng-13939	175	38	nonlinear	nonlinear	ADJ
fumecheng-13939	175	39	equation	equation	NOUN
fumecheng-13939	175	40	of	of	ADP
fumecheng-13939	175	41	the	the	DET
fumecheng-13939	175	42	uav	uav	PROPN
fumecheng-13939	175	43	.	.	PUNCT
fumecheng-13939	176	1	using	use	VERB
fumecheng-13939	176	2	[	[	X
fumecheng-13939	176	3	u	u	NOUN
fumecheng-13939	176	4	,	,	PUNCT
fumecheng-13939	176	5	v	v	NOUN
fumecheng-13939	176	6	,	,	PUNCT
fumecheng-13939	176	7	w	w	PROPN
fumecheng-13939	176	8	,	,	PUNCT
fumecheng-13939	176	9	p	p	X
fumecheng-13939	176	10	,	,	PUNCT
fumecheng-13939	176	11	q	q	ADJ
fumecheng-13939	176	12	,	,	PUNCT
fumecheng-13939	176	13	r	r	NOUN
fumecheng-13939	176	14	,	,	PUNCT
fumecheng-13939	176	15	θ	θ	PROPN
fumecheng-13939	176	16	,	,	PUNCT
fumecheng-13939	176	17	ψ	ψ	X
fumecheng-13939	176	18	,	,	PUNCT
fumecheng-13939	176	19	ϕ	ϕ	X
fumecheng-13939	176	20	]	]	PUNCT
fumecheng-13939	176	21	as	as	ADP
fumecheng-13939	176	22	a	a	DET
fumecheng-13939	176	23	state	state	NOUN
fumecheng-13939	176	24	variable	variable	NOUN
fumecheng-13939	176	25	,	,	PUNCT
fumecheng-13939	176	26	the	the	DET
fumecheng-13939	176	27	model	model	NOUN
fumecheng-13939	176	28	can	can	AUX
fumecheng-13939	176	29	be	be	AUX
fumecheng-13939	176	30	written	write	VERB
fumecheng-13939	176	31	in	in	ADP
fumecheng-13939	176	32	the	the	DET
fumecheng-13939	176	33	form	form	NOUN
fumecheng-13939	176	34	of	of	ADP
fumecheng-13939	176	35	a	a	DET
fumecheng-13939	176	36	state	state	NOUN
fumecheng-13939	176	37	space	space	NOUN
fumecheng-13939	176	38	.	.	PUNCT
fumecheng-13939	177	1	due	due	ADP
fumecheng-13939	177	2	to	to	ADP
fumecheng-13939	177	3	the	the	DET
fumecheng-13939	177	4	nonlinear	nonlinear	ADJ
fumecheng-13939	177	5	relationship	relationship	NOUN
fumecheng-13939	177	6	in	in	ADP
fumecheng-13939	177	7	the	the	DET
fumecheng-13939	177	8	motion	motion	NOUN
fumecheng-13939	177	9	model	model	NOUN
fumecheng-13939	177	10	and	and	CCONJ
fumecheng-13939	177	11	the	the	DET
fumecheng-13939	177	12	close	close	ADJ
fumecheng-13939	177	13	correlation	correlation	NOUN
fumecheng-13939	177	14	between	between	ADP
fumecheng-13939	177	15	force	force	NOUN
fumecheng-13939	177	16	and	and	CCONJ
fumecheng-13939	177	17	torque	torque	NOUN
fumecheng-13939	177	18	and	and	CCONJ
fumecheng-13939	177	19	motion	motion	NOUN
fumecheng-13939	177	20	parameters	parameter	NOUN
fumecheng-13939	177	21	,	,	PUNCT
fumecheng-13939	177	22	it	it	PRON
fumecheng-13939	177	23	is	be	AUX
fumecheng-13939	177	24	difficult	difficult	ADJ
fumecheng-13939	177	25	to	to	PART
fumecheng-13939	177	26	obtain	obtain	VERB
fumecheng-13939	177	27	analytical	analytical	ADJ
fumecheng-13939	177	28	solutions	solution	NOUN
fumecheng-13939	177	29	,	,	PUNCT
fumecheng-13939	177	30	and	and	CCONJ
fumecheng-13939	177	31	numerical	numerical	ADJ
fumecheng-13939	177	32	solutions	solution	NOUN
fumecheng-13939	177	33	can	can	AUX
fumecheng-13939	177	34	only	only	ADV
fumecheng-13939	177	35	be	be	AUX
fumecheng-13939	177	36	obtained	obtain	VERB
fumecheng-13939	177	37	with	with	ADP
fumecheng-13939	177	38	the	the	DET
fumecheng-13939	177	39	help	help	NOUN
fumecheng-13939	177	40	of	of	ADP
fumecheng-13939	177	41	computers	computer	NOUN
fumecheng-13939	177	42	.	.	PUNCT
fumecheng-13939	178	1	therefore	therefore	ADV
fumecheng-13939	178	2	,	,	PUNCT
fumecheng-13939	178	3	the	the	DET
fumecheng-13939	178	4	model	model	NOUN
fumecheng-13939	178	5	obtained	obtain	VERB
fumecheng-13939	178	6	after	after	ADP
fumecheng-13939	178	7	partial	partial	ADJ
fumecheng-13939	178	8	linearization	linearization	NOUN
fumecheng-13939	178	9	using	use	VERB
fumecheng-13939	178	10	the	the	DET
fumecheng-13939	178	11	small	small	ADJ
fumecheng-13939	178	12	perturbation	perturbation	NOUN
fumecheng-13939	178	13	principle	principle	NOUN
fumecheng-13939	178	14	is	be	AUX
fumecheng-13939	178	15	as	as	SCONJ
fumecheng-13939	178	16	follows	follow	VERB
fumecheng-13939	178	17	[	[	X
fumecheng-13939	178	18	26	26	NUM
fumecheng-13939	178	19	,	,	PUNCT
fumecheng-13939	178	20	27	27	NUM
fumecheng-13939	178	21	]	]	SYM
fumecheng-13939	178	22	:	:	PUNCT
fumecheng-13939	178	23	8	8	NUM
fumecheng-13939	178	24	l.	l.	PROPN
fumecheng-13939	178	25	xu	xu	PROPN
fumecheng-13939	178	26	(	(	PUNCT
fumecheng-13939	178	27	)	)	PUNCT
fumecheng-13939	178	28	(	(	PUNCT
fumecheng-13939	178	29	)	)	PUNCT
fumecheng-13939	178	30	(	(	PUNCT
fumecheng-13939	178	31	(	(	PUNCT
fumecheng-13939	178	32	)	)	PUNCT
fumecheng-13939	178	33	,	,	PUNCT
fumecheng-13939	178	34	(	(	PUNCT
fumecheng-13939	178	35	)	)	PUNCT
fumecheng-13939	178	36	)	)	PUNCT
fumecheng-13939	178	37	(	(	PUNCT
fumecheng-13939	178	38	)	)	PUNCT
fumecheng-13939	178	39	(	(	PUNCT
fumecheng-13939	178	40	)	)	PUNCT
fumecheng-13939	178	41	t	t	NOUN
fumecheng-13939	178	42	t	t	PROPN
fumecheng-13939	178	43	t	t	PROPN
fumecheng-13939	178	44	t	t	PROPN
fumecheng-13939	178	45	t	t	PROPN
fumecheng-13939	178	46	t	t	PROPN
fumecheng-13939	178	47			NUM
fumecheng-13939	178	48			NUM
fumecheng-13939	178	49			NUM
fumecheng-13939	178	50			NOUN
fumecheng-13939	178	51	x	x	SYM
fumecheng-13939	178	52	ax	ax	NOUN
fumecheng-13939	178	53	g	g	PROPN
fumecheng-13939	178	54	x	x	SYM
fumecheng-13939	178	55	u	u	VERB
fumecheng-13939	178	56	y	y	PROPN
fumecheng-13939	178	57	cx	cx	NOUN
fumecheng-13939	178	58			NOUN
fumecheng-13939	178	59	(	(	PUNCT
fumecheng-13939	178	60	17	17	NUM
fumecheng-13939	178	61	)	)	PUNCT
fumecheng-13939	178	62	where	where	SCONJ
fumecheng-13939	178	63	x(t	x(t	PROPN
fumecheng-13939	178	64	)	)	PUNCT
fumecheng-13939	178	65	=	=	PUNCT
fumecheng-13939	179	1	[	[	X
fumecheng-13939	179	2	u	u	NOUN
fumecheng-13939	179	3	,	,	PUNCT
fumecheng-13939	179	4	v	v	NOUN
fumecheng-13939	179	5	,	,	PUNCT
fumecheng-13939	179	6	w	w	PROPN
fumecheng-13939	179	7	,	,	PUNCT
fumecheng-13939	179	8	p	p	X
fumecheng-13939	179	9	,	,	PUNCT
fumecheng-13939	179	10	q	q	ADJ
fumecheng-13939	179	11	,	,	PUNCT
fumecheng-13939	179	12	r	r	NOUN
fumecheng-13939	179	13	,	,	PUNCT
fumecheng-13939	179	14	θ	θ	PROPN
fumecheng-13939	179	15	,	,	PUNCT
fumecheng-13939	179	16	ψ	ψ	X
fumecheng-13939	179	17	,	,	PUNCT
fumecheng-13939	179	18	ϕ]t	ϕ]t	NOUN
fumecheng-13939	179	19	is	be	AUX
fumecheng-13939	179	20	the	the	DET
fumecheng-13939	179	21	state	state	NOUN
fumecheng-13939	179	22	variable	variable	NOUN
fumecheng-13939	179	23	of	of	ADP
fumecheng-13939	179	24	the	the	DET
fumecheng-13939	179	25	system	system	NOUN
fumecheng-13939	179	26	,	,	PUNCT
fumecheng-13939	179	27	u(t	u(t	NOUN
fumecheng-13939	179	28	)	)	PUNCT
fumecheng-13939	179	29	=	=	PUNCT
fumecheng-13939	180	1	[	[	X
fumecheng-13939	180	2	δe	δe	ADP
fumecheng-13939	180	3	,	,	PUNCT
fumecheng-13939	180	4	δt	δt	PROPN
fumecheng-13939	180	5	,	,	PUNCT
fumecheng-13939	180	6	δα	δα	NOUN
fumecheng-13939	180	7	,	,	PUNCT
fumecheng-13939	180	8	δr]t	δr]t	NOUN
fumecheng-13939	180	9	=	=	PUNCT
fumecheng-13939	181	1	[	[	X
fumecheng-13939	181	2	u1,u2,u3,u4]t	u1,u2,u3,u4]t	NOUN
fumecheng-13939	181	3	is	be	AUX
fumecheng-13939	181	4	the	the	DET
fumecheng-13939	181	5	input	input	NOUN
fumecheng-13939	181	6	of	of	ADP
fumecheng-13939	181	7	the	the	DET
fumecheng-13939	181	8	system	system	NOUN
fumecheng-13939	181	9	,	,	PUNCT
fumecheng-13939	181	10	being	be	AUX
fumecheng-13939	181	11	the	the	DET
fumecheng-13939	181	12	elevator	elevator	NOUN
fumecheng-13939	181	13	,	,	PUNCT
fumecheng-13939	181	14	throttle	throttle	NOUN
fumecheng-13939	181	15	,	,	PUNCT
fumecheng-13939	181	16	flaps	flap	NOUN
fumecheng-13939	181	17	,	,	PUNCT
fumecheng-13939	181	18	and	and	CCONJ
fumecheng-13939	181	19	ailerons	aileron	NOUN
fumecheng-13939	181	20	;	;	PUNCT
fumecheng-13939	181	21	y(t	y(t	NUM
fumecheng-13939	181	22	)	)	PUNCT
fumecheng-13939	181	23	is	be	AUX
fumecheng-13939	181	24	the	the	DET
fumecheng-13939	181	25	output	output	NOUN
fumecheng-13939	181	26	vector	vector	NOUN
fumecheng-13939	181	27	of	of	ADP
fumecheng-13939	181	28	the	the	DET
fumecheng-13939	181	29	system	system	NOUN
fumecheng-13939	181	30	;	;	PUNCT
fumecheng-13939	181	31	g(x(t),u(t	g(x(t),u(t	PROPN
fumecheng-13939	181	32	)	)	PUNCT
fumecheng-13939	181	33	)	)	PUNCT
fumecheng-13939	181	34	is	be	AUX
fumecheng-13939	181	35	the	the	DET
fumecheng-13939	181	36	nonlinear	nonlinear	ADJ
fumecheng-13939	181	37	vector	vector	NOUN
fumecheng-13939	181	38	function	function	NOUN
fumecheng-13939	181	39	;	;	PUNCT
fumecheng-13939	181	40	a	a	PRON
fumecheng-13939	181	41	and	and	CCONJ
fumecheng-13939	181	42	c	c	NOUN
fumecheng-13939	181	43	are	be	AUX
fumecheng-13939	181	44	the	the	DET
fumecheng-13939	181	45	coefficient	coefficient	NOUN
fumecheng-13939	181	46	matrices	matrix	NOUN
fumecheng-13939	181	47	after	after	ADP
fumecheng-13939	181	48	linearization	linearization	NOUN
fumecheng-13939	181	49	.	.	PUNCT
fumecheng-13939	182	1	assuming	assume	VERB
fumecheng-13939	182	2	that	that	SCONJ
fumecheng-13939	182	3	the	the	DET
fumecheng-13939	182	4	nonlinear	nonlinear	ADJ
fumecheng-13939	182	5	part	part	NOUN
fumecheng-13939	182	6	of	of	ADP
fumecheng-13939	182	7	g(x(t),u(t	g(x(t),u(t	PROPN
fumecheng-13939	182	8	)	)	PUNCT
fumecheng-13939	182	9	)	)	PUNCT
fumecheng-13939	182	10	is	be	AUX
fumecheng-13939	182	11	independent	independent	ADJ
fumecheng-13939	182	12	of	of	ADP
fumecheng-13939	182	13	the	the	DET
fumecheng-13939	182	14	control	control	NOUN
fumecheng-13939	182	15	input	input	NOUN
fumecheng-13939	182	16	u(t	u(t	PROPN
fumecheng-13939	182	17	)	)	PUNCT
fumecheng-13939	182	18	,	,	PUNCT
fumecheng-13939	183	1	eq	eq	NOUN
fumecheng-13939	183	2	.	.	PUNCT
fumecheng-13939	184	1	(	(	PUNCT
fumecheng-13939	184	2	17	17	NUM
fumecheng-13939	184	3	)	)	PUNCT
fumecheng-13939	184	4	can	can	AUX
fumecheng-13939	184	5	be	be	AUX
fumecheng-13939	184	6	decoupled	decouple	VERB
fumecheng-13939	184	7	into	into	ADP
fumecheng-13939	184	8	the	the	DET
fumecheng-13939	184	9	form	form	NOUN
fumecheng-13939	184	10	of	of	ADP
fumecheng-13939	184	11	bu(t	bu(t	NOUN
fumecheng-13939	184	12	)	)	PUNCT
fumecheng-13939	184	13			CCONJ
fumecheng-13939	184	14	g(x(t	g(x(t	PROPN
fumecheng-13939	184	15	)	)	PUNCT
fumecheng-13939	184	16	)	)	PUNCT
fumecheng-13939	184	17	,	,	PUNCT
fumecheng-13939	184	18	where	where	SCONJ
fumecheng-13939	184	19	g(x(t	g(x(t	PROPN
fumecheng-13939	184	20	)	)	PUNCT
fumecheng-13939	184	21	)	)	PUNCT
fumecheng-13939	184	22	is	be	AUX
fumecheng-13939	184	23	a	a	DET
fumecheng-13939	184	24	continuous	continuous	ADJ
fumecheng-13939	184	25	nonlinear	nonlinear	ADJ
fumecheng-13939	184	26	function	function	NOUN
fumecheng-13939	184	27	that	that	PRON
fumecheng-13939	184	28	satisfies	satisfy	VERB
fumecheng-13939	184	29	the	the	DET
fumecheng-13939	184	30	lipschitz	lipschitz	NOUN
fumecheng-13939	184	31	condition	condition	NOUN
fumecheng-13939	184	32	.	.	PUNCT
fumecheng-13939	185	1	2.2	2.2	NUM
fumecheng-13939	185	2	construction	construction	NOUN
fumecheng-13939	185	3	of	of	ADP
fumecheng-13939	185	4	the	the	DET
fumecheng-13939	185	5	uav	uav	PROPN
fumecheng-13939	185	6	cluster	cluster	NOUN
fumecheng-13939	185	7	motion	motion	NOUN
fumecheng-13939	185	8	model	model	VERB
fumecheng-13939	185	9	the	the	DET
fumecheng-13939	185	10	motion	motion	NOUN
fumecheng-13939	185	11	model	model	NOUN
fumecheng-13939	185	12	construction	construction	NOUN
fumecheng-13939	185	13	of	of	ADP
fumecheng-13939	185	14	a	a	DET
fumecheng-13939	185	15	single	single	ADJ
fumecheng-13939	185	16	uav	uav	PROPN
fumecheng-13939	185	17	was	be	AUX
fumecheng-13939	185	18	completed	complete	VERB
fumecheng-13939	185	19	in	in	ADP
fumecheng-13939	185	20	section	section	NOUN
fumecheng-13939	185	21	2.1	2.1	NUM
fumecheng-13939	185	22	.	.	PUNCT
fumecheng-13939	186	1	now	now	ADV
fumecheng-13939	186	2	the	the	DET
fumecheng-13939	186	3	uav	uav	PROPN
fumecheng-13939	186	4	cluster	cluster	NOUN
fumecheng-13939	186	5	model	model	NOUN
fumecheng-13939	186	6	under	under	ADP
fumecheng-13939	186	7	the	the	DET
fumecheng-13939	186	8	lead	lead	ADJ
fumecheng-13939	186	9	wingman	wingman	NOUN
fumecheng-13939	186	10	strategy	strategy	NOUN
fumecheng-13939	186	11	in	in	ADP
fumecheng-13939	186	12	the	the	DET
fumecheng-13939	186	13	planar	planar	ADJ
fumecheng-13939	186	14	coordinate	coordinate	NOUN
fumecheng-13939	186	15	system	system	NOUN
fumecheng-13939	186	16	is	be	AUX
fumecheng-13939	186	17	considered	consider	VERB
fumecheng-13939	186	18	,	,	PUNCT
fumecheng-13939	186	19	as	as	SCONJ
fumecheng-13939	186	20	shown	show	VERB
fumecheng-13939	186	21	in	in	ADP
fumecheng-13939	186	22	fig	fig	NOUN
fumecheng-13939	186	23	.	.	PUNCT
fumecheng-13939	187	1	2	2	X
fumecheng-13939	187	2	.	.	X
fumecheng-13939	187	3	fig.2	fig.2	PROPN
fumecheng-13939	187	4	schematic	schematic	ADJ
fumecheng-13939	187	5	diagram	diagram	NOUN
fumecheng-13939	187	6	of	of	ADP
fumecheng-13939	187	7	the	the	DET
fumecheng-13939	187	8	uav	uav	PROPN
fumecheng-13939	187	9	formation	formation	NOUN
fumecheng-13939	187	10	under	under	ADP
fumecheng-13939	187	11	the	the	DET
fumecheng-13939	187	12	lead	lead	ADJ
fumecheng-13939	187	13	wingman	wingman	NOUN
fumecheng-13939	187	14	strategy	strategy	NOUN
fumecheng-13939	187	15	according	accord	VERB
fumecheng-13939	187	16	to	to	ADP
fumecheng-13939	187	17	the	the	DET
fumecheng-13939	187	18	geometric	geometric	ADJ
fumecheng-13939	187	19	relationship	relationship	NOUN
fumecheng-13939	187	20	in	in	ADP
fumecheng-13939	187	21	the	the	DET
fumecheng-13939	187	22	figure	figure	NOUN
fumecheng-13939	187	23	,	,	PUNCT
fumecheng-13939	187	24	the	the	DET
fumecheng-13939	187	25	motion	motion	NOUN
fumecheng-13939	187	26	equation	equation	NOUN
fumecheng-13939	187	27	of	of	ADP
fumecheng-13939	187	28	the	the	DET
fumecheng-13939	187	29	i	i	PROPN
fumecheng-13939	187	30	-	-	PUNCT
fumecheng-13939	187	31	th	th	PROPN
fumecheng-13939	187	32	uav	uav	PROPN
fumecheng-13939	187	33	can	can	AUX
fumecheng-13939	187	34	be	be	AUX
fumecheng-13939	187	35	obtained	obtain	VERB
fumecheng-13939	187	36	as	as	SCONJ
fumecheng-13939	187	37	follows	follow	VERB
fumecheng-13939	187	38	:	:	PUNCT
fumecheng-13939	188	1	cos	cos	ADP
fumecheng-13939	188	2	sin	sin	NOUN
fumecheng-13939	189	1	i	i	PRON
fumecheng-13939	189	2	i	i	PRON
fumecheng-13939	190	1	i	i	PRON
fumecheng-13939	190	2	i	i	PRON
fumecheng-13939	191	1	i	i	PRON
fumecheng-13939	191	2	i	i	PRON
fumecheng-13939	192	1	i	i	PRON
fumecheng-13939	192	2	i	i	VERB
fumecheng-13939	192	3	x	x	VERB
fumecheng-13939	193	1	v	v	ADP
fumecheng-13939	193	2	y	y	PROPN
fumecheng-13939	193	3	v	v	NOUN
fumecheng-13939	193	4			NOUN
fumecheng-13939	194	1			PROPN
fumecheng-13939	194	2			NOUN
fumecheng-13939	194	3			DET
fumecheng-13939	194	4			NOUN
fumecheng-13939	195	1			NUM
fumecheng-13939	195	2			PROPN
fumecheng-13939	195	3			NUM
fumecheng-13939	195	4			NOUN
fumecheng-13939	195	5			NOUN
fumecheng-13939	195	6			NOUN
fumecheng-13939	195	7			NOUN
fumecheng-13939	195	8	(	(	PUNCT
fumecheng-13939	195	9	18	18	NUM
fumecheng-13939	195	10	)	)	PUNCT
fumecheng-13939	195	11	where	where	SCONJ
fumecheng-13939	195	12	the	the	DET
fumecheng-13939	195	13	planar	planar	ADJ
fumecheng-13939	195	14	coordinate	coordinate	NOUN
fumecheng-13939	195	15	system	system	NOUN
fumecheng-13939	195	16	is	be	AUX
fumecheng-13939	195	17	composed	compose	VERB
fumecheng-13939	195	18	of	of	ADP
fumecheng-13939	195	19	the	the	DET
fumecheng-13939	195	20	x	x	NOUN
fumecheng-13939	195	21	-	-	NOUN
fumecheng-13939	195	22	axis	axis	ADJ
fumecheng-13939	195	23	and	and	CCONJ
fumecheng-13939	195	24	y	y	NOUN
fumecheng-13939	195	25	-	-	PUNCT
fumecheng-13939	195	26	axis	axis	NOUN
fumecheng-13939	195	27	defined	define	VERB
fumecheng-13939	195	28	in	in	ADP
fumecheng-13939	195	29	section	section	NOUN
fumecheng-13939	195	30	2.1	2.1	NUM
fumecheng-13939	195	31	of	of	ADP
fumecheng-13939	195	32	the	the	DET
fumecheng-13939	195	33	ground	ground	NOUN
fumecheng-13939	195	34	coordinate	coordinate	NOUN
fumecheng-13939	195	35	system	system	NOUN
fumecheng-13939	195	36	,	,	PUNCT
fumecheng-13939	195	37	xi	xi	PROPN
fumecheng-13939	195	38	,	,	PUNCT
fumecheng-13939	195	39	yi	yi	PROPN
fumecheng-13939	195	40	represent	represent	VERB
fumecheng-13939	195	41	the	the	DET
fumecheng-13939	195	42	position	position	NOUN
fumecheng-13939	195	43	of	of	ADP
fumecheng-13939	195	44	the	the	DET
fumecheng-13939	195	45	i	i	PROPN
fumecheng-13939	195	46	-	-	PUNCT
fumecheng-13939	195	47	th	th	PROPN
fumecheng-13939	195	48	uav	uav	PROPN
fumecheng-13939	195	49	,	,	PUNCT
fumecheng-13939	195	50	vi	vi	PROPN
fumecheng-13939	195	51	,	,	PUNCT
fumecheng-13939	195	52	ωi	ωi	PROPN
fumecheng-13939	195	53	represent	represent	VERB
fumecheng-13939	195	54	the	the	DET
fumecheng-13939	195	55	forward	forward	ADJ
fumecheng-13939	195	56	and	and	CCONJ
fumecheng-13939	195	57	angular	angular	ADJ
fumecheng-13939	195	58	velocities	velocity	NOUN
fumecheng-13939	195	59	of	of	ADP
fumecheng-13939	195	60	the	the	DET
fumecheng-13939	195	61	i	i	PROPN
fumecheng-13939	195	62	-	-	PUNCT
fumecheng-13939	195	63	th	th	X
fumecheng-13939	195	64	uav	uav	PROPN
fumecheng-13939	195	65	,	,	PUNCT
fumecheng-13939	195	66	and	and	CCONJ
fumecheng-13939	195	67	ψi	ψi	ADP
fumecheng-13939	195	68	denotes	denote	NOUN
fumecheng-13939	195	69	the	the	DET
fumecheng-13939	195	70	angle	angle	NOUN
fumecheng-13939	195	71	between	between	ADP
fumecheng-13939	195	72	the	the	DET
fumecheng-13939	195	73	forward	forward	ADJ
fumecheng-13939	195	74	velocity	velocity	NOUN
fumecheng-13939	195	75	of	of	ADP
fumecheng-13939	195	76	the	the	DET
fumecheng-13939	195	77	i	i	PROPN
fumecheng-13939	195	78	-	-	PUNCT
fumecheng-13939	195	79	th	th	X
fumecheng-13939	195	80	uav	uav	PROPN
fumecheng-13939	195	81	and	and	CCONJ
fumecheng-13939	195	82	the	the	DET
fumecheng-13939	195	83	x	x	NOUN
fumecheng-13939	195	84	-	-	NOUN
fumecheng-13939	195	85	axis	axis	ADJ
fumecheng-13939	195	86	.	.	PUNCT
fumecheng-13939	196	1	fig	fig	NOUN
fumecheng-13939	196	2	.	.	PUNCT
fumecheng-13939	197	1	1	1	NUM
fumecheng-13939	197	2	shows	show	VERB
fumecheng-13939	197	3	that	that	SCONJ
fumecheng-13939	197	4	the	the	DET
fumecheng-13939	197	5	relative	relative	ADJ
fumecheng-13939	197	6	forward	forward	NOUN
fumecheng-13939	197	7	distance	distance	PROPN
fumecheng-13939	197	8	fij	fij	PROPN
fumecheng-13939	197	9	and	and	CCONJ
fumecheng-13939	197	10	the	the	DET
fumecheng-13939	197	11	lateral	lateral	ADJ
fumecheng-13939	197	12	distance	distance	NOUN
fumecheng-13939	197	13	lij	lij	NOUN
fumecheng-13939	197	14	between	between	ADP
fumecheng-13939	197	15	the	the	DET
fumecheng-13939	197	16	lead	lead	ADJ
fumecheng-13939	197	17	aircraft	aircraft	NOUN
fumecheng-13939	197	18	and	and	CCONJ
fumecheng-13939	197	19	the	the	DET
fumecheng-13939	197	20	wingman	wingman	NOUN
fumecheng-13939	197	21	could	could	AUX
fumecheng-13939	197	22	be	be	AUX
fumecheng-13939	197	23	expressed	express	VERB
fumecheng-13939	197	24	as	as	ADP
fumecheng-13939	197	25	:	:	PUNCT
fumecheng-13939	197	26	fault	fault	NOUN
fumecheng-13939	197	27	-	-	PUNCT
fumecheng-13939	197	28	tolerant	tolerant	ADJ
fumecheng-13939	197	29	control	control	NOUN
fumecheng-13939	197	30	of	of	ADP
fumecheng-13939	197	31	low	low	ADJ
fumecheng-13939	197	32	-	-	PUNCT
fumecheng-13939	197	33	altitude	altitude	NOUN
fumecheng-13939	197	34	unmanned	unmanned	ADJ
fumecheng-13939	197	35	aerial	aerial	ADJ
fumecheng-13939	197	36	vehicle	vehicle	NOUN
fumecheng-13939	197	37	swarms	swarm	NOUN
fumecheng-13939	197	38	using	use	VERB
fumecheng-13939	197	39	...	...	PUNCT
fumecheng-13939	197	40	9	9	NUM
fumecheng-13939	197	41	(	(	PUNCT
fumecheng-13939	197	42	)	)	PUNCT
fumecheng-13939	197	43	sin	sin	NOUN
fumecheng-13939	197	44	(	(	PUNCT
fumecheng-13939	197	45	)	)	PUNCT
fumecheng-13939	197	46	cos	cos	PROPN
fumecheng-13939	197	47	cos	cos	PROPN
fumecheng-13939	197	48	(	(	PUNCT
fumecheng-13939	197	49	)	)	PUNCT
fumecheng-13939	197	50	(	(	PUNCT
fumecheng-13939	197	51	)	)	PUNCT
fumecheng-13939	197	52	cos	cos	PROPN
fumecheng-13939	197	53	(	(	PUNCT
fumecheng-13939	197	54	)	)	PUNCT
fumecheng-13939	197	55	sin	sin	NOUN
fumecheng-13939	197	56	sin	sin	NOUN
fumecheng-13939	197	57	(	(	PUNCT
fumecheng-13939	197	58	)	)	PUNCT
fumecheng-13939	198	1	ij	ij	INTJ
fumecheng-13939	199	1	i	i	PRON
fumecheng-13939	199	2	j	j	PROPN
fumecheng-13939	200	1	j	j	INTJ
fumecheng-13939	201	1	i	i	PRON
fumecheng-13939	201	2	j	j	PROPN
fumecheng-13939	202	1	j	j	NOUN
fumecheng-13939	203	1	i	i	PRON
fumecheng-13939	203	2	j	j	INTJ
fumecheng-13939	204	1	ij	ij	INTJ
fumecheng-13939	205	1	i	i	PRON
fumecheng-13939	205	2	j	j	PROPN
fumecheng-13939	206	1	j	j	INTJ
fumecheng-13939	207	1	i	i	PRON
fumecheng-13939	207	2	j	j	PROPN
fumecheng-13939	208	1	j	j	INTJ
fumecheng-13939	209	1	i	i	PRON
fumecheng-13939	209	2	j	j	PROPN
fumecheng-13939	210	1	f	f	VERB
fumecheng-13939	210	2	y	y	PROPN
fumecheng-13939	210	3	y	y	PROPN
fumecheng-13939	210	4	x	x	PUNCT
fumecheng-13939	211	1	x	x	PUNCT
fumecheng-13939	211	2	d	d	X
fumecheng-13939	211	3	l	l	X
fumecheng-13939	211	4	y	y	NOUN
fumecheng-13939	211	5	y	y	NOUN
fumecheng-13939	211	6	x	x	PUNCT
fumecheng-13939	212	1	x	x	PUNCT
fumecheng-13939	212	2	d	d	X
fumecheng-13939	212	3			NOUN
fumecheng-13939	212	4			NOUN
fumecheng-13939	212	5			NOUN
fumecheng-13939	212	6			NOUN
fumecheng-13939	212	7			NOUN
fumecheng-13939	212	8			NOUN
fumecheng-13939	212	9			NOUN
fumecheng-13939	212	10			NOUN
fumecheng-13939	213	1			PROPN
fumecheng-13939	213	2			PROPN
fumecheng-13939	213	3			ADV
fumecheng-13939	213	4			PROPN
fumecheng-13939	213	5			VERB
fumecheng-13939	213	6			PROPN
fumecheng-13939	213	7			PROPN
fumecheng-13939	213	8			PROPN
fumecheng-13939	213	9			PROPN
fumecheng-13939	213	10			PUNCT
fumecheng-13939	213	11			PROPN
fumecheng-13939	213	12			PROPN
fumecheng-13939	213	13			PROPN
fumecheng-13939	213	14	(	(	PUNCT
fumecheng-13939	213	15	19	19	NUM
fumecheng-13939	213	16	)	)	PUNCT
fumecheng-13939	213	17	where	where	SCONJ
fumecheng-13939	213	18	d	d	PROPN
fumecheng-13939	213	19	denotes	denote	VERB
fumecheng-13939	213	20	the	the	DET
fumecheng-13939	213	21	distance	distance	NOUN
fumecheng-13939	213	22	between	between	ADP
fumecheng-13939	213	23	the	the	DET
fumecheng-13939	213	24	control	control	NOUN
fumecheng-13939	213	25	and	and	CCONJ
fumecheng-13939	213	26	actual	actual	ADJ
fumecheng-13939	213	27	centers	center	NOUN
fumecheng-13939	213	28	[	[	X
fumecheng-13939	213	29	28	28	NUM
fumecheng-13939	213	30	,	,	PUNCT
fumecheng-13939	213	31	29	29	NUM
fumecheng-13939	213	32	]	]	PUNCT
fumecheng-13939	213	33	.	.	PUNCT
fumecheng-13939	214	1	the	the	DET
fumecheng-13939	214	2	forward	forward	ADJ
fumecheng-13939	214	3	error	error	NOUN
fumecheng-13939	214	4	ijfe	ijfe	NOUN
fumecheng-13939	214	5	and	and	CCONJ
fumecheng-13939	214	6	the	the	DET
fumecheng-13939	214	7	lateral	lateral	ADJ
fumecheng-13939	214	8	error	error	NOUN
fumecheng-13939	214	9	ijle	ijle	NOUN
fumecheng-13939	214	10	between	between	ADP
fumecheng-13939	214	11	the	the	DET
fumecheng-13939	214	12	forward	forward	ADJ
fumecheng-13939	214	13	and	and	CCONJ
fumecheng-13939	214	14	lateral	lateral	ADJ
fumecheng-13939	214	15	distances	distance	NOUN
fumecheng-13939	214	16	,	,	PUNCT
fumecheng-13939	214	17	as	as	ADV
fumecheng-13939	214	18	well	well	ADV
fumecheng-13939	214	19	as	as	ADP
fumecheng-13939	214	20	the	the	DET
fumecheng-13939	214	21	expected	expect	VERB
fumecheng-13939	214	22	forward	forward	ADV
fumecheng-13939	214	23	and	and	CCONJ
fumecheng-13939	214	24	lateral	lateral	ADJ
fumecheng-13939	214	25	distances	distance	NOUN
fumecheng-13939	214	26	,	,	PUNCT
fumecheng-13939	214	27	can	can	AUX
fumecheng-13939	214	28	be	be	AUX
fumecheng-13939	214	29	written	write	VERB
fumecheng-13939	214	30	as	as	ADP
fumecheng-13939	214	31	a	a	DET
fumecheng-13939	214	32	state	state	NOUN
fumecheng-13939	214	33	space	space	NOUN
fumecheng-13939	214	34	expression	expression	NOUN
fumecheng-13939	214	35	to	to	PART
fumecheng-13939	214	36	obtain	obtain	VERB
fumecheng-13939	214	37	:	:	PUNCT
fumecheng-13939	214	38	cos	cos	PROPN
fumecheng-13939	214	39	(	(	PUNCT
fumecheng-13939	214	40	)	)	PUNCT
fumecheng-13939	214	41	sin	sin	NOUN
fumecheng-13939	214	42	(	(	PUNCT
fumecheng-13939	214	43	)	)	PUNCT
fumecheng-13939	214	44	sin	sin	NOUN
fumecheng-13939	214	45	(	(	PUNCT
fumecheng-13939	214	46	)	)	PUNCT
fumecheng-13939	214	47	cos	cos	PROPN
fumecheng-13939	214	48	(	(	PUNCT
fumecheng-13939	214	49	)	)	PUNCT
fumecheng-13939	215	1	ij	ij	INTJ
fumecheng-13939	216	1	ij	ij	INTJ
fumecheng-13939	217	1	f	f	PROPN
fumecheng-13939	217	2	j	j	PROPN
fumecheng-13939	218	1	ij	ij	INTJ
fumecheng-13939	218	2	j	j	PROPN
fumecheng-13939	219	1	i	i	PRON
fumecheng-13939	219	2	j	j	VERB
fumecheng-13939	220	1	i	i	PRON
fumecheng-13939	220	2	j	j	VERB
fumecheng-13939	221	1	i	i	PRON
fumecheng-13939	221	2	ij	ij	VERB
fumecheng-13939	221	3	j	j	PROPN
fumecheng-13939	222	1	i	i	PRON
fumecheng-13939	222	2	j	j	VERB
fumecheng-13939	223	1	i	i	PRON
fumecheng-13939	223	2	j	j	PROPN
fumecheng-13939	223	3	il	il	PROPN
fumecheng-13939	223	4	e	e	PROPN
fumecheng-13939	223	5	v	v	ADP
fumecheng-13939	223	6	l	l	NOUN
fumecheng-13939	223	7	d	d	X
fumecheng-13939	223	8	v	v	X
fumecheng-13939	223	9	f	f	X
fumecheng-13939	223	10	de	de	X
fumecheng-13939	223	11			X
fumecheng-13939	223	12			NOUN
fumecheng-13939	223	13			NOUN
fumecheng-13939	223	14			NOUN
fumecheng-13939	223	15			NOUN
fumecheng-13939	223	16			NOUN
fumecheng-13939	223	17			NOUN
fumecheng-13939	223	18			NOUN
fumecheng-13939	224	1			X
fumecheng-13939	225	1			X
fumecheng-13939	225	2			NOUN
fumecheng-13939	225	3			PROPN
fumecheng-13939	225	4			ADJ
fumecheng-13939	225	5			PROPN
fumecheng-13939	225	6			PROPN
fumecheng-13939	225	7			PROPN
fumecheng-13939	225	8			NOUN
fumecheng-13939	225	9			NOUN
fumecheng-13939	225	10			NOUN
fumecheng-13939	225	11			PROPN
fumecheng-13939	225	12			ADJ
fumecheng-13939	225	13			PROPN
fumecheng-13939	225	14			NOUN
fumecheng-13939	225	15			PROPN
fumecheng-13939	225	16			PROPN
fumecheng-13939	225	17			ADJ
fumecheng-13939	225	18			NOUN
fumecheng-13939	225	19			NOUN
fumecheng-13939	225	20			NOUN
fumecheng-13939	225	21			NOUN
fumecheng-13939	225	22			NOUN
fumecheng-13939	225	23			NOUN
fumecheng-13939	225	24			PROPN
fumecheng-13939	225	25			PROPN
fumecheng-13939	225	26			NOUN
fumecheng-13939	225	27			NOUN
fumecheng-13939	225	28			VERB
fumecheng-13939	225	29			PROPN
fumecheng-13939	225	30			PROPN
fumecheng-13939	225	31			VERB
fumecheng-13939	225	32			ADJ
fumecheng-13939	225	33			PROPN
fumecheng-13939	225	34			NOUN
fumecheng-13939	225	35			NOUN
fumecheng-13939	225	36	(	(	PUNCT
fumecheng-13939	225	37	20	20	NUM
fumecheng-13939	225	38	)	)	PUNCT
fumecheng-13939	225	39	comparing	compare	VERB
fumecheng-13939	225	40	eqs	eqs	PROPN
fumecheng-13939	225	41	.	.	PUNCT
fumecheng-13939	226	1	(	(	PUNCT
fumecheng-13939	226	2	18	18	NUM
fumecheng-13939	226	3	)	)	PUNCT
fumecheng-13939	226	4	and	and	CCONJ
fumecheng-13939	226	5	(	(	PUNCT
fumecheng-13939	226	6	20	20	NUM
fumecheng-13939	226	7	)	)	PUNCT
fumecheng-13939	226	8	,	,	PUNCT
fumecheng-13939	226	9	it	it	PRON
fumecheng-13939	226	10	can	can	AUX
fumecheng-13939	226	11	be	be	AUX
fumecheng-13939	226	12	seen	see	VERB
fumecheng-13939	226	13	that	that	SCONJ
fumecheng-13939	226	14	the	the	DET
fumecheng-13939	226	15	output	output	NOUN
fumecheng-13939	226	16	of	of	ADP
fumecheng-13939	226	17	the	the	DET
fumecheng-13939	226	18	kinematic	kinematic	ADJ
fumecheng-13939	226	19	model	model	NOUN
fumecheng-13939	226	20	of	of	ADP
fumecheng-13939	226	21	a	a	DET
fumecheng-13939	226	22	single	single	ADJ
fumecheng-13939	226	23	uav	uav	PROPN
fumecheng-13939	226	24	is	be	AUX
fumecheng-13939	226	25	the	the	DET
fumecheng-13939	226	26	input	input	NOUN
fumecheng-13939	226	27	of	of	ADP
fumecheng-13939	226	28	the	the	DET
fumecheng-13939	226	29	kinematic	kinematic	ADJ
fumecheng-13939	226	30	model	model	NOUN
fumecheng-13939	226	31	of	of	ADP
fumecheng-13939	226	32	the	the	DET
fumecheng-13939	226	33	uav	uav	PROPN
fumecheng-13939	226	34	cluster	cluster	NOUN
fumecheng-13939	226	35	.	.	PUNCT
fumecheng-13939	227	1	2.3	2.3	NUM
fumecheng-13939	227	2	construction	construction	NOUN
fumecheng-13939	227	3	of	of	ADP
fumecheng-13939	227	4	the	the	DET
fumecheng-13939	227	5	uav	uav	PROPN
fumecheng-13939	227	6	motion	motion	NOUN
fumecheng-13939	227	7	model	model	NOUN
fumecheng-13939	227	8	in	in	ADP
fumecheng-13939	227	9	the	the	DET
fumecheng-13939	227	10	presence	presence	NOUN
fumecheng-13939	227	11	of	of	ADP
fumecheng-13939	227	12	faults	fault	NOUN
fumecheng-13939	227	13	to	to	PART
fumecheng-13939	227	14	construct	construct	VERB
fumecheng-13939	227	15	a	a	DET
fumecheng-13939	227	16	fault	fault	NOUN
fumecheng-13939	227	17	model	model	NOUN
fumecheng-13939	227	18	for	for	ADP
fumecheng-13939	227	19	the	the	DET
fumecheng-13939	227	20	uav	uav	PROPN
fumecheng-13939	227	21	cluster	cluster	NOUN
fumecheng-13939	227	22	,	,	PUNCT
fumecheng-13939	227	23	it	it	PRON
fumecheng-13939	227	24	can	can	AUX
fumecheng-13939	227	25	be	be	AUX
fumecheng-13939	227	26	assumed	assume	VERB
fumecheng-13939	227	27	that	that	SCONJ
fumecheng-13939	227	28	one	one	NUM
fumecheng-13939	227	29	or	or	CCONJ
fumecheng-13939	227	30	more	more	ADJ
fumecheng-13939	227	31	uavs	uavs	NOUN
fumecheng-13939	227	32	have	have	AUX
fumecheng-13939	227	33	malfunctioned	malfunction	VERB
fumecheng-13939	227	34	,	,	PUNCT
fumecheng-13939	227	35	i.e.	i.e.	X
fumecheng-13939	227	36	,	,	PUNCT
fumecheng-13939	227	37	the	the	DET
fumecheng-13939	227	38	i	i	PROPN
fumecheng-13939	227	39	-	-	PUNCT
fumecheng-13939	227	40	th	th	PROPN
fumecheng-13939	227	41	uav	uav	PROPN
fumecheng-13939	227	42	has	have	AUX
fumecheng-13939	227	43	malfunctioned	malfunction	VERB
fumecheng-13939	227	44	.	.	PUNCT
fumecheng-13939	228	1	the	the	DET
fumecheng-13939	228	2	motion	motion	NOUN
fumecheng-13939	228	3	model	model	NOUN
fumecheng-13939	228	4	of	of	ADP
fumecheng-13939	228	5	a	a	DET
fumecheng-13939	228	6	single	single	ADJ
fumecheng-13939	228	7	uav	uav	NOUN
fumecheng-13939	228	8	given	give	VERB
fumecheng-13939	228	9	in	in	ADP
fumecheng-13939	228	10	eq	eq	ADP
fumecheng-13939	228	11	.	.	PUNCT
fumecheng-13939	229	1	(	(	PUNCT
fumecheng-13939	229	2	17	17	NUM
fumecheng-13939	229	3	)	)	PUNCT
fumecheng-13939	229	4	can	can	AUX
fumecheng-13939	229	5	be	be	AUX
fumecheng-13939	229	6	rewritten	rewrite	VERB
fumecheng-13939	229	7	as	as	ADP
fumecheng-13939	229	8	:	:	PUNCT
fumecheng-13939	229	9	(	(	PUNCT
fumecheng-13939	229	10	)	)	PUNCT
fumecheng-13939	229	11	(	(	PUNCT
fumecheng-13939	229	12	)	)	PUNCT
fumecheng-13939	229	13	(	(	PUNCT
fumecheng-13939	229	14	)	)	PUNCT
fumecheng-13939	229	15	(	(	PUNCT
fumecheng-13939	229	16	(	(	PUNCT
fumecheng-13939	229	17	)	)	PUNCT
fumecheng-13939	229	18	)	)	PUNCT
fumecheng-13939	229	19	(	(	PUNCT
fumecheng-13939	229	20	)	)	PUNCT
fumecheng-13939	229	21	(	(	PUNCT
fumecheng-13939	229	22	)	)	PUNCT
fumecheng-13939	229	23	(	(	PUNCT
fumecheng-13939	229	24	)	)	PUNCT
fumecheng-13939	229	25	(	(	PUNCT
fumecheng-13939	229	26	)	)	PUNCT
fumecheng-13939	230	1	i	i	PRON
fumecheng-13939	230	2	i	i	PRON
fumecheng-13939	231	1	i	i	PRON
fumecheng-13939	231	2	i	i	PRON
fumecheng-13939	232	1	i	i	PRON
fumecheng-13939	232	2	i	i	PRON
fumecheng-13939	233	1	i	i	PRON
fumecheng-13939	233	2	i	i	PRON
fumecheng-13939	234	1	i	i	PRON
fumecheng-13939	234	2	i	i	PRON
fumecheng-13939	235	1	i	i	PRON
fumecheng-13939	236	1	i	i	PRON
fumecheng-13939	237	1	i	i	PRON
fumecheng-13939	237	2	t	t	NOUN
fumecheng-13939	238	1	t	t	PROPN
fumecheng-13939	238	2	t	t	PROPN
fumecheng-13939	238	3	t	t	PROPN
fumecheng-13939	238	4	t	t	PROPN
fumecheng-13939	238	5	t	t	PROPN
fumecheng-13939	238	6	t	t	PROPN
fumecheng-13939	238	7	t	t	PROPN
fumecheng-13939	238	8			PROPN
fumecheng-13939	238	9			ADV
fumecheng-13939	238	10			PUNCT
fumecheng-13939	238	11			PUNCT
fumecheng-13939	238	12			NUM
fumecheng-13939	238	13			PROPN
fumecheng-13939	238	14			NOUN
fumecheng-13939	238	15	x	x	PUNCT
fumecheng-13939	238	16	a	a	DET
fumecheng-13939	238	17	x	x	SYM
fumecheng-13939	238	18	b	b	X
fumecheng-13939	238	19	u	u	NOUN
fumecheng-13939	238	20	g	g	PROPN
fumecheng-13939	238	21	x	x	PROPN
fumecheng-13939	238	22	d	d	X
fumecheng-13939	238	23	e	e	X
fumecheng-13939	238	24	f	f	PROPN
fumecheng-13939	238	25	y	y	PROPN
fumecheng-13939	238	26	c	c	PROPN
fumecheng-13939	238	27	x	x	SYM
fumecheng-13939	238	28	φ	φ	X
fumecheng-13939	238	29	(	(	PUNCT
fumecheng-13939	238	30	21	21	NUM
fumecheng-13939	238	31	)	)	PUNCT
fumecheng-13939	238	32	where	where	SCONJ
fumecheng-13939	238	33	φi(t	φi(t	NOUN
fumecheng-13939	238	34	)	)	PUNCT
fumecheng-13939	238	35	represents	represent	VERB
fumecheng-13939	238	36	the	the	DET
fumecheng-13939	238	37	unknown	unknown	ADJ
fumecheng-13939	238	38	nonlinear	nonlinear	ADJ
fumecheng-13939	238	39	disturbance	disturbance	NOUN
fumecheng-13939	238	40	and	and	CCONJ
fumecheng-13939	238	41	parameter	parameter	NOUN
fumecheng-13939	238	42	uncertainty	uncertainty	NOUN
fumecheng-13939	238	43	of	of	ADP
fumecheng-13939	238	44	the	the	DET
fumecheng-13939	238	45	system	system	NOUN
fumecheng-13939	238	46	,	,	PUNCT
fumecheng-13939	238	47	and	and	CCONJ
fumecheng-13939	238	48	fi(t	fi(t	NOUN
fumecheng-13939	238	49	)	)	PUNCT
fumecheng-13939	238	50	denotes	denote	VERB
fumecheng-13939	238	51	the	the	DET
fumecheng-13939	238	52	unknown	unknown	ADJ
fumecheng-13939	238	53	fault	fault	NOUN
fumecheng-13939	238	54	term	term	NOUN
fumecheng-13939	238	55	of	of	ADP
fumecheng-13939	238	56	the	the	DET
fumecheng-13939	238	57	system	system	NOUN
fumecheng-13939	238	58	that	that	PRON
fumecheng-13939	238	59	occurred	occur	VERB
fumecheng-13939	238	60	on	on	ADP
fumecheng-13939	238	61	the	the	DET
fumecheng-13939	238	62	i	i	PROPN
fumecheng-13939	238	63	-	-	PUNCT
fumecheng-13939	238	64	th	th	PROPN
fumecheng-13939	238	65	uav	uav	PROPN
fumecheng-13939	238	66	,	,	PUNCT
fumecheng-13939	238	67	di	di	NOUN
fumecheng-13939	238	68	and	and	CCONJ
fumecheng-13939	238	69	ei	ei	NOUN
fumecheng-13939	238	70	are	be	AUX
fumecheng-13939	238	71	the	the	DET
fumecheng-13939	238	72	time	time	NOUN
fumecheng-13939	238	73	-	-	PUNCT
fumecheng-13939	238	74	invariant	invariant	ADJ
fumecheng-13939	238	75	coefficient	coefficient	NOUN
fumecheng-13939	238	76	matrices	matrix	NOUN
fumecheng-13939	238	77	.	.	PUNCT
fumecheng-13939	239	1	3	3	X
fumecheng-13939	239	2	.	.	X
fumecheng-13939	239	3	sliding	slide	VERB
fumecheng-13939	239	4	mode	mode	NOUN
fumecheng-13939	239	5	observer	observer	NOUN
fumecheng-13939	239	6	and	and	CCONJ
fumecheng-13939	239	7	fault	fault	NOUN
fumecheng-13939	239	8	-	-	PUNCT
fumecheng-13939	239	9	tolerant	tolerant	ADJ
fumecheng-13939	239	10	controller	controller	NOUN
fumecheng-13939	239	11	design	design	VERB
fumecheng-13939	239	12	the	the	DET
fumecheng-13939	239	13	outer	outer	ADJ
fumecheng-13939	239	14	-	-	PUNCT
fumecheng-13939	239	15	loop	loop	NOUN
fumecheng-13939	239	16	uav	uav	PROPN
fumecheng-13939	239	17	group	group	PROPN
fumecheng-13939	239	18	control	control	NOUN
fumecheng-13939	239	19	system	system	NOUN
fumecheng-13939	239	20	needs	need	VERB
fumecheng-13939	239	21	to	to	PART
fumecheng-13939	239	22	be	be	AUX
fumecheng-13939	239	23	designed	design	VERB
fumecheng-13939	239	24	.	.	PUNCT
fumecheng-13939	240	1	the	the	DET
fumecheng-13939	240	2	reconstruction	reconstruction	NOUN
fumecheng-13939	240	3	can	can	AUX
fumecheng-13939	240	4	be	be	AUX
fumecheng-13939	240	5	obtained	obtain	VERB
fumecheng-13939	240	6	as	as	SCONJ
fumecheng-13939	240	7	follows	follow	VERB
fumecheng-13939	240	8	:	:	PUNCT
fumecheng-13939	240	9	*	*	PUNCT
fumecheng-13939	241	1	*	*	PUNCT
fumecheng-13939	241	2	*	*	PUNCT
fumecheng-13939	241	3	*	*	PUNCT
fumecheng-13939	241	4	cos	cos	PROPN
fumecheng-13939	241	5	(	(	PUNCT
fumecheng-13939	241	6	)	)	PUNCT
fumecheng-13939	241	7	sin	sin	NOUN
fumecheng-13939	241	8	(	(	PUNCT
fumecheng-13939	241	9	)	)	PUNCT
fumecheng-13939	241	10	sin	sin	NOUN
fumecheng-13939	241	11	(	(	PUNCT
fumecheng-13939	241	12	)	)	PUNCT
fumecheng-13939	241	13	cos	cos	PROPN
fumecheng-13939	241	14	(	(	PUNCT
fumecheng-13939	241	15	)	)	PUNCT
fumecheng-13939	241	16	cos	cos	PROPN
fumecheng-13939	241	17	(	(	PUNCT
fumecheng-13939	241	18	)	)	PUNCT
fumecheng-13939	241	19	sin	sin	NOUN
fumecheng-13939	241	20	(	(	PUNCT
fumecheng-13939	241	21	)	)	PUNCT
fumecheng-13939	241	22	sin	sin	NOUN
fumecheng-13939	241	23	(	(	PUNCT
fumecheng-13939	241	24	)	)	PUNCT
fumecheng-13939	241	25	cos	cos	PROPN
fumecheng-13939	241	26	(	(	PUNCT
fumecheng-13939	241	27	)	)	PUNCT
fumecheng-13939	241	28	ij	ij	INTJ
fumecheng-13939	242	1	ij	ij	INTJ
fumecheng-13939	243	1	f	f	PROPN
fumecheng-13939	243	2	j	j	PROPN
fumecheng-13939	244	1	ij	ij	INTJ
fumecheng-13939	244	2	j	j	PROPN
fumecheng-13939	245	1	i	i	PRON
fumecheng-13939	245	2	j	j	VERB
fumecheng-13939	246	1	i	i	PRON
fumecheng-13939	246	2	j	j	VERB
fumecheng-13939	247	1	i	i	PRON
fumecheng-13939	247	2	ij	ij	VERB
fumecheng-13939	247	3	j	j	PROPN
fumecheng-13939	248	1	i	i	PRON
fumecheng-13939	248	2	j	j	VERB
fumecheng-13939	249	1	i	i	PRON
fumecheng-13939	249	2	jl	jl	VERB
fumecheng-13939	250	1	i	i	PRON
fumecheng-13939	250	2	i	i	INTJ
fumecheng-13939	251	1	j	j	VERB
fumecheng-13939	252	1	i	i	PRON
fumecheng-13939	252	2	j	j	VERB
fumecheng-13939	253	1	i	i	PRON
fumecheng-13939	253	2	i	i	PRON
fumecheng-13939	254	1	i	i	PRON
fumecheng-13939	254	2	j	j	VERB
fumecheng-13939	255	1	i	i	PRON
fumecheng-13939	255	2	j	j	VERB
fumecheng-13939	256	1	i	i	PRON
fumecheng-13939	256	2	i	i	PRON
fumecheng-13939	257	1	e	e	VERB
fumecheng-13939	257	2	v	v	X
fumecheng-13939	257	3	l	l	NOUN
fumecheng-13939	257	4	d	d	X
fumecheng-13939	257	5	v	v	X
fumecheng-13939	257	6	f	f	PROPN
fumecheng-13939	257	7	de	de	PROPN
fumecheng-13939	257	8	d	d	PROPN
fumecheng-13939	257	9	v	v	PROPN
fumecheng-13939	257	10	v	v	NOUN
fumecheng-13939	258	1	d	d	NOUN
fumecheng-13939	258	2			NOUN
fumecheng-13939	259	1			NOUN
fumecheng-13939	260	1			NOUN
fumecheng-13939	261	1			NOUN
fumecheng-13939	262	1			NOUN
fumecheng-13939	263	1			NOUN
fumecheng-13939	264	1			NOUN
fumecheng-13939	265	1			NOUN
fumecheng-13939	266	1			NOUN
fumecheng-13939	267	1			NOUN
fumecheng-13939	268	1			NOUN
fumecheng-13939	269	1			NOUN
fumecheng-13939	270	1			NOUN
fumecheng-13939	271	1			NOUN
fumecheng-13939	272	1			NOUN
fumecheng-13939	273	1			NOUN
fumecheng-13939	274	1			X
fumecheng-13939	274	2			X
fumecheng-13939	275	1			X
fumecheng-13939	275	2			X
fumecheng-13939	275	3			X
fumecheng-13939	275	4			PROPN
fumecheng-13939	275	5			ADJ
fumecheng-13939	275	6			PROPN
fumecheng-13939	275	7			PROPN
fumecheng-13939	275	8			PROPN
fumecheng-13939	275	9			PROPN
fumecheng-13939	275	10			PROPN
fumecheng-13939	275	11			PROPN
fumecheng-13939	275	12			PROPN
fumecheng-13939	275	13			INTJ
fumecheng-13939	275	14			PROPN
fumecheng-13939	275	15			NOUN
fumecheng-13939	275	16			PROPN
fumecheng-13939	275	17			PROPN
fumecheng-13939	275	18			NOUN
fumecheng-13939	275	19			NOUN
fumecheng-13939	275	20			PROPN
fumecheng-13939	275	21			NOUN
fumecheng-13939	275	22			NOUN
fumecheng-13939	275	23			NOUN
fumecheng-13939	275	24			PROPN
fumecheng-13939	275	25			PROPN
fumecheng-13939	275	26			PROPN
fumecheng-13939	275	27			NOUN
fumecheng-13939	275	28			NOUN
fumecheng-13939	275	29			PROPN
fumecheng-13939	275	30			NOUN
fumecheng-13939	275	31			PROPN
fumecheng-13939	275	32			AUX
fumecheng-13939	275	33			ADJ
fumecheng-13939	275	34			PROPN
fumecheng-13939	275	35			PROPN
fumecheng-13939	275	36			PROPN
fumecheng-13939	275	37			PROPN
fumecheng-13939	275	38			PROPN
fumecheng-13939	275	39			PROPN
fumecheng-13939	275	40			PUNCT
fumecheng-13939	275	41			PROPN
fumecheng-13939	275	42			SYM
fumecheng-13939	275	43			PUNCT
fumecheng-13939	275	44			PROPN
fumecheng-13939	275	45			NOUN
fumecheng-13939	275	46			PROPN
fumecheng-13939	275	47			PROPN
fumecheng-13939	275	48			PROPN
fumecheng-13939	275	49			NOUN
fumecheng-13939	275	50			PROPN
fumecheng-13939	275	51			VERB
fumecheng-13939	275	52			PROPN
fumecheng-13939	275	53			NOUN
fumecheng-13939	275	54			NOUN
fumecheng-13939	275	55	(	(	PUNCT
fumecheng-13939	275	56	22	22	NUM
fumecheng-13939	275	57	)	)	PUNCT
fumecheng-13939	276	1	where	where	SCONJ
fumecheng-13939	276	2	*	*	PUNCT
fumecheng-13939	276	3	iv	iv	X
fumecheng-13939	276	4	and	and	CCONJ
fumecheng-13939	276	5	*	*	PUNCT
fumecheng-13939	276	6	i	i	PROPN
fumecheng-13939	276	7	are	be	AUX
fumecheng-13939	276	8	the	the	DET
fumecheng-13939	276	9	expected	expect	VERB
fumecheng-13939	276	10	forward	forward	ADV
fumecheng-13939	276	11	and	and	CCONJ
fumecheng-13939	276	12	angular	angular	ADJ
fumecheng-13939	276	13	velocities	velocity	NOUN
fumecheng-13939	276	14	of	of	ADP
fumecheng-13939	276	15	the	the	DET
fumecheng-13939	276	16	i	i	PROPN
fumecheng-13939	276	17	-	-	PUNCT
fumecheng-13939	276	18	th	th	X
fumecheng-13939	276	19	uav	uav	PROPN
fumecheng-13939	276	20	.	.	PUNCT
fumecheng-13939	277	1	to	to	PART
fumecheng-13939	277	2	make	make	VERB
fumecheng-13939	277	3	the	the	DET
fumecheng-13939	277	4	system	system	NOUN
fumecheng-13939	277	5	stable	stable	ADJ
fumecheng-13939	277	6	,	,	PUNCT
fumecheng-13939	277	7	the	the	DET
fumecheng-13939	277	8	introduction	introduction	NOUN
fumecheng-13939	277	9	of	of	ADP
fumecheng-13939	277	10	a	a	DET
fumecheng-13939	277	11	proportional	proportional	ADJ
fumecheng-13939	277	12	-	-	PUNCT
fumecheng-13939	277	13	integral	integral	ADJ
fumecheng-13939	277	14	(	(	PUNCT
fumecheng-13939	277	15	pi	pi	NOUN
fumecheng-13939	277	16	)	)	PUNCT
fumecheng-13939	277	17	control	control	NOUN
fumecheng-13939	277	18	rate	rate	NOUN
fumecheng-13939	277	19	can	can	AUX
fumecheng-13939	277	20	be	be	AUX
fumecheng-13939	277	21	derived	derive	VERB
fumecheng-13939	277	22	as	as	SCONJ
fumecheng-13939	277	23	follows	follow	VERB
fumecheng-13939	277	24	:	:	PUNCT
fumecheng-13939	277	25	*	*	PUNCT
fumecheng-13939	277	26	1	1	NUM
fumecheng-13939	277	27	1	1	NUM
fumecheng-13939	277	28	*	*	SYM
fumecheng-13939	277	29	2	2	NUM
fumecheng-13939	277	30	2	2	NUM
fumecheng-13939	277	31	(	(	PUNCT
fumecheng-13939	277	32	)	)	PUNCT
fumecheng-13939	277	33	cos	cos	PROPN
fumecheng-13939	277	34	(	(	PUNCT
fumecheng-13939	277	35	)	)	PUNCT
fumecheng-13939	277	36	sin	sin	NOUN
fumecheng-13939	277	37	(	(	PUNCT
fumecheng-13939	277	38	)	)	PUNCT
fumecheng-13939	277	39	sin	sin	NOUN
fumecheng-13939	277	40	(	(	PUNCT
fumecheng-13939	277	41	)	)	PUNCT
fumecheng-13939	277	42	cos	cos	PROPN
fumecheng-13939	277	43	(	(	PUNCT
fumecheng-13939	277	44	)	)	PUNCT
fumecheng-13939	277	45	(	(	PUNCT
fumecheng-13939	277	46	)	)	PUNCT
fumecheng-13939	278	1	ij	ij	INTJ
fumecheng-13939	278	2	ij	ij	INTJ
fumecheng-13939	279	1	ij	ij	INTJ
fumecheng-13939	279	2	ij	ij	INTJ
fumecheng-13939	280	1	ij	ij	INTJ
fumecheng-13939	280	2	ij	ij	INTJ
fumecheng-13939	280	3	f	f	PROPN
fumecheng-13939	281	1	p	p	X
fumecheng-13939	281	2	f	f	X
fumecheng-13939	282	1	i	i	PRON
fumecheng-13939	282	2	f	f	VERB
fumecheng-13939	283	1	i	i	PRON
fumecheng-13939	283	2	j	j	VERB
fumecheng-13939	284	1	i	i	PRON
fumecheng-13939	284	2	j	j	VERB
fumecheng-13939	285	1	i	i	PRON
fumecheng-13939	285	2	i	i	PRON
fumecheng-13939	286	1	i	i	PRON
fumecheng-13939	286	2	j	j	VERB
fumecheng-13939	287	1	i	i	PRON
fumecheng-13939	287	2	jl	jl	VERB
fumecheng-13939	288	1	i	i	PRON
fumecheng-13939	288	2	ip	ip	VERB
fumecheng-13939	288	3	l	l	NOUN
fumecheng-13939	289	1	i	i	NOUN
fumecheng-13939	289	2	l	l	NOUN
fumecheng-13939	290	1	e	e	X
fumecheng-13939	290	2	k	k	PROPN
fumecheng-13939	290	3	e	e	X
fumecheng-13939	290	4	k	k	PROPN
fumecheng-13939	290	5	e	e	NOUN
fumecheng-13939	290	6	dt	dt	X
fumecheng-13939	291	1	d	d	X
fumecheng-13939	291	2	v	v	PROPN
fumecheng-13939	291	3	v	v	X
fumecheng-13939	291	4	de	de	X
fumecheng-13939	291	5	k	k	X
fumecheng-13939	291	6	e	e	PROPN
fumecheng-13939	291	7	k	k	PROPN
fumecheng-13939	291	8	e	e	X
fumecheng-13939	291	9	dt	dt	PROPN
fumecheng-13939	291	10			NOUN
fumecheng-13939	292	1			INTJ
fumecheng-13939	292	2			NOUN
fumecheng-13939	292	3			NOUN
fumecheng-13939	292	4			NOUN
fumecheng-13939	293	1			NOUN
fumecheng-13939	294	1			NOUN
fumecheng-13939	295	1			NOUN
fumecheng-13939	296	1			NOUN
fumecheng-13939	296	2			PROPN
fumecheng-13939	296	3			PROPN
fumecheng-13939	296	4			ADP
fumecheng-13939	296	5			PROPN
fumecheng-13939	296	6			ADJ
fumecheng-13939	296	7			PROPN
fumecheng-13939	296	8			PROPN
fumecheng-13939	296	9			PROPN
fumecheng-13939	296	10			PROPN
fumecheng-13939	296	11			PROPN
fumecheng-13939	296	12			ADJ
fumecheng-13939	296	13			PROPN
fumecheng-13939	296	14			NOUN
fumecheng-13939	296	15			VERB
fumecheng-13939	296	16			ADJ
fumecheng-13939	296	17			NOUN
fumecheng-13939	296	18			NOUN
fumecheng-13939	296	19			NOUN
fumecheng-13939	296	20			NOUN
fumecheng-13939	296	21			PROPN
fumecheng-13939	296	22			PROPN
fumecheng-13939	296	23			PROPN
fumecheng-13939	296	24			NUM
fumecheng-13939	296	25			ADV
fumecheng-13939	296	26			PROPN
fumecheng-13939	297	1			PROPN
fumecheng-13939	297	2			NOUN
fumecheng-13939	297	3			VERB
fumecheng-13939	297	4			PROPN
fumecheng-13939	297	5			AUX
fumecheng-13939	297	6			PROPN
fumecheng-13939	297	7			PROPN
fumecheng-13939	297	8			VERB
fumecheng-13939	297	9			PROPN
fumecheng-13939	297	10			NOUN
fumecheng-13939	297	11			NOUN
fumecheng-13939	297	12	(	(	PUNCT
fumecheng-13939	297	13	23	23	NUM
fumecheng-13939	297	14	)	)	PUNCT
fumecheng-13939	297	15	where	where	SCONJ
fumecheng-13939	297	16	kpi	kpi	PROPN
fumecheng-13939	297	17	,	,	PUNCT
fumecheng-13939	297	18	kii	kii	PROPN
fumecheng-13939	297	19	,	,	PUNCT
fumecheng-13939	297	20	i=1	i=1	PROPN
fumecheng-13939	297	21	,	,	PUNCT
fumecheng-13939	297	22	2	2	NUM
fumecheng-13939	297	23	respectively	respectively	ADV
fumecheng-13939	297	24	represent	represent	VERB
fumecheng-13939	297	25	the	the	DET
fumecheng-13939	297	26	proportional	proportional	ADJ
fumecheng-13939	297	27	gain	gain	NOUN
fumecheng-13939	297	28	and	and	CCONJ
fumecheng-13939	297	29	integral	integral	ADJ
fumecheng-13939	297	30	gain	gain	NOUN
fumecheng-13939	297	31	of	of	ADP
fumecheng-13939	297	32	the	the	DET
fumecheng-13939	297	33	10	10	NUM
fumecheng-13939	297	34	l.	l.	PROPN
fumecheng-13939	297	35	xu	xu	PROPN
fumecheng-13939	297	36	pi	pi	PROPN
fumecheng-13939	297	37	control	control	PROPN
fumecheng-13939	297	38	law	law	PROPN
fumecheng-13939	297	39	.	.	PUNCT
fumecheng-13939	298	1	when	when	SCONJ
fumecheng-13939	298	2	*	*	PUNCT
fumecheng-13939	298	3	*	*	PUNCT
fumecheng-13939	298	4	,	,	PUNCT
fumecheng-13939	298	5	iiv	iiv	PROPN
fumecheng-13939	298	6			PROPN
fumecheng-13939	298	7	and	and	CCONJ
fumecheng-13939	298	8	vi	vi	PROPN
fumecheng-13939	298	9	,	,	PUNCT
fumecheng-13939	298	10	ωi	ωi	X
fumecheng-13939	298	11	are	be	AUX
fumecheng-13939	298	12	equal	equal	ADJ
fumecheng-13939	298	13	,	,	PUNCT
fumecheng-13939	298	14	i.e.	i.e.	X
fumecheng-13939	298	15	,	,	PUNCT
fumecheng-13939	298	16	when	when	SCONJ
fumecheng-13939	298	17	the	the	DET
fumecheng-13939	298	18	uav	uav	PROPN
fumecheng-13939	298	19	tracks	track	VERB
fumecheng-13939	298	20	the	the	DET
fumecheng-13939	298	21	desired	desire	VERB
fumecheng-13939	298	22	signal	signal	NOUN
fumecheng-13939	298	23	,	,	PUNCT
fumecheng-13939	298	24	the	the	DET
fumecheng-13939	298	25	following	follow	VERB
fumecheng-13939	298	26	can	can	AUX
fumecheng-13939	298	27	be	be	AUX
fumecheng-13939	298	28	obtained	obtain	VERB
fumecheng-13939	298	29	:	:	PUNCT
fumecheng-13939	298	30	1	1	NUM
fumecheng-13939	298	31	1	1	NUM
fumecheng-13939	298	32	2	2	NUM
fumecheng-13939	298	33	2	2	NUM
fumecheng-13939	298	34	(	(	PUNCT
fumecheng-13939	298	35	)	)	PUNCT
fumecheng-13939	298	36	(	(	PUNCT
fumecheng-13939	298	37	)	)	PUNCT
fumecheng-13939	299	1	ij	ij	INTJ
fumecheng-13939	299	2	ij	ij	INTJ
fumecheng-13939	300	1	ij	ij	INTJ
fumecheng-13939	300	2	ij	ij	INTJ
fumecheng-13939	301	1	ij	ij	INTJ
fumecheng-13939	301	2	ij	ij	INTJ
fumecheng-13939	301	3	f	f	PROPN
fumecheng-13939	302	1	p	p	X
fumecheng-13939	302	2	f	f	X
fumecheng-13939	303	1	i	i	PRON
fumecheng-13939	303	2	f	f	PROPN
fumecheng-13939	304	1	l	l	NOUN
fumecheng-13939	304	2	p	p	X
fumecheng-13939	305	1	l	l	NOUN
fumecheng-13939	306	1	i	i	NOUN
fumecheng-13939	306	2	l	l	NOUN
fumecheng-13939	306	3	e	e	X
fumecheng-13939	306	4	k	k	PROPN
fumecheng-13939	306	5	e	e	X
fumecheng-13939	306	6	k	k	PROPN
fumecheng-13939	306	7	e	e	X
fumecheng-13939	306	8	dt	dt	X
fumecheng-13939	306	9	e	e	X
fumecheng-13939	306	10	k	k	PROPN
fumecheng-13939	306	11	e	e	PROPN
fumecheng-13939	306	12	k	k	PROPN
fumecheng-13939	306	13	e	e	PROPN
fumecheng-13939	306	14	dt	dt	X
fumecheng-13939	306	15			PROPN
fumecheng-13939	306	16			PROPN
fumecheng-13939	306	17			ADV
fumecheng-13939	306	18			NUM
fumecheng-13939	306	19			NOUN
fumecheng-13939	306	20			NOUN
fumecheng-13939	306	21			VERB
fumecheng-13939	306	22			PROPN
fumecheng-13939	306	23			PROPN
fumecheng-13939	306	24			VERB
fumecheng-13939	306	25			PROPN
fumecheng-13939	306	26			PROPN
fumecheng-13939	306	27			PROPN
fumecheng-13939	306	28			PROPN
fumecheng-13939	306	29			VERB
fumecheng-13939	306	30			PROPN
fumecheng-13939	306	31			NOUN
fumecheng-13939	306	32			NOUN
fumecheng-13939	306	33	(	(	PUNCT
fumecheng-13939	306	34	24	24	NUM
fumecheng-13939	306	35	)	)	PUNCT
fumecheng-13939	306	36	obviously	obviously	ADV
fumecheng-13939	306	37	,	,	PUNCT
fumecheng-13939	306	38	eq	eq	ADJ
fumecheng-13939	306	39	.	.	PUNCT
fumecheng-13939	307	1	(	(	PUNCT
fumecheng-13939	307	2	24	24	NUM
fumecheng-13939	307	3	)	)	PUNCT
fumecheng-13939	307	4	is	be	AUX
fumecheng-13939	307	5	asymptotically	asymptotically	ADV
fumecheng-13939	307	6	stable	stable	ADJ
fumecheng-13939	307	7	,	,	PUNCT
fumecheng-13939	307	8	which	which	PRON
fumecheng-13939	307	9	means	mean	VERB
fumecheng-13939	307	10	that	that	SCONJ
fumecheng-13939	307	11	when	when	SCONJ
fumecheng-13939	307	12	each	each	DET
fumecheng-13939	307	13	uav	uav	PROPN
fumecheng-13939	307	14	in	in	ADP
fumecheng-13939	307	15	the	the	DET
fumecheng-13939	307	16	uav	uav	PROPN
fumecheng-13939	307	17	group	group	NOUN
fumecheng-13939	307	18	is	be	AUX
fumecheng-13939	307	19	stable	stable	ADJ
fumecheng-13939	307	20	under	under	ADP
fumecheng-13939	307	21	normal	normal	ADJ
fumecheng-13939	307	22	or	or	CCONJ
fumecheng-13939	307	23	fault	fault	VERB
fumecheng-13939	307	24	conditions	condition	NOUN
fumecheng-13939	307	25	,	,	PUNCT
fumecheng-13939	307	26	the	the	DET
fumecheng-13939	307	27	stability	stability	NOUN
fumecheng-13939	307	28	of	of	ADP
fumecheng-13939	307	29	the	the	DET
fumecheng-13939	307	30	uav	uav	PROPN
fumecheng-13939	307	31	group	group	NOUN
fumecheng-13939	307	32	can	can	AUX
fumecheng-13939	307	33	be	be	AUX
fumecheng-13939	307	34	guaranteed	guarantee	VERB
fumecheng-13939	307	35	.	.	PUNCT
fumecheng-13939	308	1	to	to	PART
fumecheng-13939	308	2	ensure	ensure	VERB
fumecheng-13939	308	3	that	that	SCONJ
fumecheng-13939	308	4	the	the	DET
fumecheng-13939	308	5	state	state	NOUN
fumecheng-13939	308	6	variables	variable	NOUN
fumecheng-13939	308	7	of	of	ADP
fumecheng-13939	308	8	the	the	DET
fumecheng-13939	308	9	inner	inner	ADJ
fumecheng-13939	308	10	-	-	PUNCT
fumecheng-13939	308	11	loop	loop	NOUN
fumecheng-13939	308	12	uav	uav	PROPN
fumecheng-13939	308	13	can	can	AUX
fumecheng-13939	308	14	track	track	VERB
fumecheng-13939	308	15	their	their	PRON
fumecheng-13939	308	16	reference	reference	NOUN
fumecheng-13939	308	17	values	value	NOUN
fumecheng-13939	308	18	,	,	PUNCT
fumecheng-13939	308	19	a	a	DET
fumecheng-13939	308	20	sliding	slide	VERB
fumecheng-13939	308	21	mode	mode	NOUN
fumecheng-13939	308	22	tracking	track	VERB
fumecheng-13939	308	23	controller	controller	NOUN
fumecheng-13939	308	24	for	for	ADP
fumecheng-13939	308	25	the	the	DET
fumecheng-13939	308	26	inner	inner	ADJ
fumecheng-13939	308	27	-	-	PUNCT
fumecheng-13939	308	28	loop	loop	NOUN
fumecheng-13939	308	29	uav	uav	PROPN
fumecheng-13939	308	30	was	be	AUX
fumecheng-13939	308	31	designed	design	VERB
fumecheng-13939	308	32	.	.	PUNCT
fumecheng-13939	309	1	assumption	assumption	NOUN
fumecheng-13939	309	2	1	1	NUM
fumecheng-13939	309	3	.	.	PUNCT
fumecheng-13939	310	1	for	for	ADP
fumecheng-13939	310	2	the	the	DET
fumecheng-13939	310	3	nonlinear	nonlinear	ADJ
fumecheng-13939	310	4	term	term	NOUN
fumecheng-13939	310	5	in	in	ADP
fumecheng-13939	310	6	the	the	DET
fumecheng-13939	310	7	nonlinear	nonlinear	ADJ
fumecheng-13939	310	8	model	model	NOUN
fumecheng-13939	310	9	of	of	ADP
fumecheng-13939	310	10	a	a	DET
fumecheng-13939	310	11	single	single	ADJ
fumecheng-13939	310	12	uav	uav	PROPN
fumecheng-13939	310	13	in	in	ADP
fumecheng-13939	310	14	eq	eq	PROPN
fumecheng-13939	310	15	.	.	PUNCT
fumecheng-13939	311	1	(	(	PUNCT
fumecheng-13939	311	2	17	17	NUM
fumecheng-13939	311	3	)	)	PUNCT
fumecheng-13939	311	4	,	,	PUNCT
fumecheng-13939	311	5	there	there	PRON
fumecheng-13939	311	6	is	be	VERB
fumecheng-13939	311	7	a	a	DET
fumecheng-13939	311	8	continuous	continuous	ADJ
fumecheng-13939	311	9	bounded	bounded	ADJ
fumecheng-13939	311	10	function	function	NOUN
fumecheng-13939	311	11	(xi(t	(xi(t	NOUN
fumecheng-13939	311	12	)	)	PUNCT
fumecheng-13939	311	13	)	)	PUNCT
fumecheng-13939	312	1	>	>	X
fumecheng-13939	312	2	0	0	PUNCT
fumecheng-13939	313	1	such	such	ADJ
fumecheng-13939	313	2	that	that	SCONJ
fumecheng-13939	313	3	it	it	PRON
fumecheng-13939	313	4	can	can	AUX
fumecheng-13939	313	5	satisfy	satisfy	VERB
fumecheng-13939	313	6	the	the	DET
fumecheng-13939	313	7	following	follow	VERB
fumecheng-13939	313	8	inequality	inequality	NOUN
fumecheng-13939	313	9	:	:	PUNCT
fumecheng-13939	313	10	(	(	PUNCT
fumecheng-13939	313	11	(	(	PUNCT
fumecheng-13939	313	12	)	)	PUNCT
fumecheng-13939	313	13	)	)	PUNCT
fumecheng-13939	314	1	(	(	PUNCT
fumecheng-13939	314	2	(	(	PUNCT
fumecheng-13939	314	3	)	)	PUNCT
fumecheng-13939	314	4	)	)	PUNCT
fumecheng-13939	315	1	i	i	PRON
fumecheng-13939	315	2	t	t	VERB
fumecheng-13939	315	3	t	t	NOUN
fumecheng-13939	316	1	i	i	PRON
fumecheng-13939	316	2	i	i	PRON
fumecheng-13939	317	1	i	i	PRON
fumecheng-13939	317	2	i	i	PRON
fumecheng-13939	317	3	it	it	PRON
fumecheng-13939	317	4	ts	ts	VERB
fumecheng-13939	317	5	l	l	NOUN
fumecheng-13939	317	6	cg	cg	NOUN
fumecheng-13939	317	7	x	x	PUNCT
fumecheng-13939	317	8	λ	λ	NOUN
fumecheng-13939	317	9	x	x	SYM
fumecheng-13939	317	10	s	s	PROPN
fumecheng-13939	317	11	l	l	X
fumecheng-13939	317	12	cb	cb	X
fumecheng-13939	317	13	(	(	PUNCT
fumecheng-13939	317	14	25	25	NUM
fumecheng-13939	317	15	)	)	PUNCT
fumecheng-13939	317	16	where	where	SCONJ
fumecheng-13939	317	17	si	si	PROPN
fumecheng-13939	317	18	is	be	AUX
fumecheng-13939	317	19	the	the	DET
fumecheng-13939	317	20	sliding	slide	VERB
fumecheng-13939	317	21	surface	surface	NOUN
fumecheng-13939	317	22	.	.	PUNCT
fumecheng-13939	318	1	the	the	DET
fumecheng-13939	318	2	sliding	slide	VERB
fumecheng-13939	318	3	surface	surface	NOUN
fumecheng-13939	318	4	of	of	ADP
fumecheng-13939	318	5	the	the	DET
fumecheng-13939	318	6	sliding	slide	VERB
fumecheng-13939	318	7	mode	mode	NOUN
fumecheng-13939	318	8	tracking	track	VERB
fumecheng-13939	318	9	controller	controller	NOUN
fumecheng-13939	318	10	of	of	ADP
fumecheng-13939	318	11	the	the	DET
fumecheng-13939	318	12	inner	inner	ADJ
fumecheng-13939	318	13	-	-	PUNCT
fumecheng-13939	318	14	loop	loop	NOUN
fumecheng-13939	318	15	uav	uav	PROPN
fumecheng-13939	318	16	was	be	AUX
fumecheng-13939	318	17	designed	design	VERB
fumecheng-13939	318	18	as	as	SCONJ
fumecheng-13939	318	19	follows	follow	VERB
fumecheng-13939	318	20	:	:	PUNCT
fumecheng-13939	318	21	0	0	NUM
fumecheng-13939	318	22	0	0	NUM
fumecheng-13939	319	1	t	t	NOUN
fumecheng-13939	320	1	i	i	PRON
fumecheng-13939	321	1	i	i	PRON
fumecheng-13939	322	1	i	i	VERB
fumecheng-13939	322	2	idt	idt	NOUN
fumecheng-13939	322	3			PUNCT
fumecheng-13939	322	4	y	y	PROPN
fumecheng-13939	322	5	ys	ys	NOUN
fumecheng-13939	322	6	e	e	PROPN
fumecheng-13939	322	7	k	k	PROPN
fumecheng-13939	322	8	e	e	X
fumecheng-13939	322	9	(	(	PUNCT
fumecheng-13939	322	10	26	26	NUM
fumecheng-13939	322	11	)	)	PUNCT
fumecheng-13939	322	12	where	where	SCONJ
fumecheng-13939	322	13	eyi	eyi	NOUN
fumecheng-13939	322	14	=	=	SYM
fumecheng-13939	322	15	yri	yri	PROPN
fumecheng-13939	322	16	liyi	liyi	PROPN
fumecheng-13939	322	17	represents	represent	VERB
fumecheng-13939	322	18	the	the	DET
fumecheng-13939	322	19	output	output	NOUN
fumecheng-13939	322	20	tracking	tracking	NOUN
fumecheng-13939	322	21	error	error	NOUN
fumecheng-13939	322	22	of	of	ADP
fumecheng-13939	322	23	the	the	DET
fumecheng-13939	322	24	i	i	PROPN
fumecheng-13939	322	25	-	-	PUNCT
fumecheng-13939	322	26	th	th	PROPN
fumecheng-13939	322	27	uav	uav	PROPN
fumecheng-13939	322	28	,	,	PUNCT
fumecheng-13939	322	29	yri	yri	PROPN
fumecheng-13939	322	30	denotes	denote	VERB
fumecheng-13939	322	31	the	the	DET
fumecheng-13939	322	32	expected	expect	VERB
fumecheng-13939	322	33	output	output	NOUN
fumecheng-13939	322	34	of	of	ADP
fumecheng-13939	322	35	the	the	DET
fumecheng-13939	322	36	i	i	PROPN
fumecheng-13939	322	37	-	-	PUNCT
fumecheng-13939	322	38	th	th	PROPN
fumecheng-13939	322	39	uav	uav	PROPN
fumecheng-13939	322	40	,	,	PUNCT
fumecheng-13939	322	41	yi	yi	PROPN
fumecheng-13939	322	42	denotes	denote	VERB
fumecheng-13939	322	43	the	the	DET
fumecheng-13939	322	44	actual	actual	ADJ
fumecheng-13939	322	45	output	output	NOUN
fumecheng-13939	322	46	of	of	ADP
fumecheng-13939	322	47	the	the	DET
fumecheng-13939	322	48	i	i	PROPN
fumecheng-13939	322	49	-	-	PUNCT
fumecheng-13939	322	50	th	th	X
fumecheng-13939	322	51	uav	uav	PROPN
fumecheng-13939	322	52	,	,	PUNCT
fumecheng-13939	322	53	and	and	CCONJ
fumecheng-13939	322	54	li	li	PROPN
fumecheng-13939	322	55	represents	represent	VERB
fumecheng-13939	322	56	the	the	DET
fumecheng-13939	322	57	dimension	dimension	NOUN
fumecheng-13939	322	58	adaptation	adaptation	NOUN
fumecheng-13939	322	59	matrix	matrix	NOUN
fumecheng-13939	322	60	.	.	PUNCT
fumecheng-13939	323	1	the	the	DET
fumecheng-13939	323	2	following	follow	VERB
fumecheng-13939	323	3	derivation	derivation	NOUN
fumecheng-13939	323	4	of	of	ADP
fumecheng-13939	323	5	eq	eq	PROPN
fumecheng-13939	323	6	.	.	PUNCT
fumecheng-13939	324	1	(	(	PUNCT
fumecheng-13939	324	2	26	26	NUM
fumecheng-13939	324	3	)	)	PUNCT
fumecheng-13939	324	4	can	can	AUX
fumecheng-13939	324	5	be	be	AUX
fumecheng-13939	324	6	obtained	obtain	VERB
fumecheng-13939	324	7	:	:	PUNCT
fumecheng-13939	324	8	i	i	PRON
fumecheng-13939	324	9	i	i	PRON
fumecheng-13939	325	1	i	i	PRON
fumecheng-13939	326	1	i	i	PRON
fumecheng-13939	326	2	ri	ri	VERB
fumecheng-13939	327	1	i	i	PRON
fumecheng-13939	327	2	i	i	PRON
fumecheng-13939	328	1	i	i	PRON
fumecheng-13939	328	2	i	i	VERB
fumecheng-13939	328	3			PUNCT
fumecheng-13939	328	4			PROPN
fumecheng-13939	328	5			PROPN
fumecheng-13939	329	1	y	y	PROPN
fumecheng-13939	329	2	y	y	PROPN
fumecheng-13939	329	3	ys	ys	NOUN
fumecheng-13939	329	4	e	e	PROPN
fumecheng-13939	329	5	k	k	PROPN
fumecheng-13939	329	6	e	e	PROPN
fumecheng-13939	329	7	y	y	PROPN
fumecheng-13939	329	8	lcx	lcx	PROPN
fumecheng-13939	329	9	k	k	PROPN
fumecheng-13939	329	10	e	e	VERB
fumecheng-13939	329	11			NOUN
fumecheng-13939	329	12			NOUN
fumecheng-13939	329	13			NOUN
fumecheng-13939	329	14	(	(	PUNCT
fumecheng-13939	329	15	27	27	NUM
fumecheng-13939	329	16	)	)	PUNCT
fumecheng-13939	329	17	its	its	PRON
fumecheng-13939	329	18	stability	stability	NOUN
fumecheng-13939	329	19	was	be	AUX
fumecheng-13939	329	20	proved	prove	VERB
fumecheng-13939	329	21	below	below	ADV
fumecheng-13939	329	22	.	.	PUNCT
fumecheng-13939	330	1	a	a	DET
fumecheng-13939	330	2	lyapunov	lyapunov	PROPN
fumecheng-13939	330	3	function	function	NOUN
fumecheng-13939	330	4	vi	vi	PROPN
fumecheng-13939	330	5	was	be	AUX
fumecheng-13939	330	6	considered	consider	VERB
fumecheng-13939	330	7	as	as	SCONJ
fumecheng-13939	330	8	follows	follow	VERB
fumecheng-13939	330	9	:	:	PUNCT
fumecheng-13939	330	10	1	1	NUM
fumecheng-13939	330	11	v	v	SYM
fumecheng-13939	330	12	2	2	NUM
fumecheng-13939	330	13	t	t	NOUN
fumecheng-13939	331	1	i	i	PRON
fumecheng-13939	331	2	i	i	PRON
fumecheng-13939	331	3	i	i	VERB
fumecheng-13939	331	4	s	s	X
fumecheng-13939	331	5	s	s	X
fumecheng-13939	331	6	(	(	PUNCT
fumecheng-13939	331	7	28	28	NUM
fumecheng-13939	331	8	)	)	PUNCT
fumecheng-13939	331	9	the	the	DET
fumecheng-13939	331	10	derivation	derivation	NOUN
fumecheng-13939	331	11	of	of	ADP
fumecheng-13939	331	12	eq	eq	PROPN
fumecheng-13939	331	13	.	.	PUNCT
fumecheng-13939	332	1	(	(	PUNCT
fumecheng-13939	332	2	28	28	NUM
fumecheng-13939	332	3	)	)	PUNCT
fumecheng-13939	332	4	can	can	AUX
fumecheng-13939	332	5	be	be	AUX
fumecheng-13939	332	6	obtained	obtain	VERB
fumecheng-13939	332	7	:	:	PUNCT
fumecheng-13939	332	8	v	v	X
fumecheng-13939	332	9	(	(	PUNCT
fumecheng-13939	332	10	)	)	PUNCT
fumecheng-13939	333	1	t	t	NOUN
fumecheng-13939	333	2	t	t	NOUN
fumecheng-13939	334	1	i	i	PRON
fumecheng-13939	335	1	i	i	PRON
fumecheng-13939	336	1	i	i	PRON
fumecheng-13939	337	1	i	i	PRON
fumecheng-13939	337	2	ri	ri	VERB
fumecheng-13939	338	1	i	i	PRON
fumecheng-13939	338	2	i	i	PRON
fumecheng-13939	339	1	i	i	PRON
fumecheng-13939	339	2	yi	yi	VERB
fumecheng-13939	339	3			PROPN
fumecheng-13939	339	4			PROPN
fumecheng-13939	340	1	s	s	PROPN
fumecheng-13939	340	2	s	s	PART
fumecheng-13939	340	3	s	s	NOUN
fumecheng-13939	340	4	y	y	PROPN
fumecheng-13939	340	5	lcx	lcx	PROPN
fumecheng-13939	340	6	k	k	PROPN
fumecheng-13939	340	7	e	e	VERB
fumecheng-13939	340	8			NOUN
fumecheng-13939	340	9			NOUN
fumecheng-13939	340	10	(	(	PUNCT
fumecheng-13939	340	11	29	29	NUM
fumecheng-13939	340	12	)	)	PUNCT
fumecheng-13939	340	13	to	to	PART
fumecheng-13939	340	14	guarantee	guarantee	VERB
fumecheng-13939	340	15	that	that	SCONJ
fumecheng-13939	340	16	the	the	DET
fumecheng-13939	340	17	system	system	NOUN
fumecheng-13939	340	18	can	can	AUX
fumecheng-13939	340	19	be	be	AUX
fumecheng-13939	340	20	stable	stable	ADJ
fumecheng-13939	340	21	on	on	ADP
fumecheng-13939	340	22	the	the	DET
fumecheng-13939	340	23	sliding	slide	VERB
fumecheng-13939	340	24	surface	surface	NOUN
fumecheng-13939	340	25	,	,	PUNCT
fumecheng-13939	340	26	i.e.	i.e.	X
fumecheng-13939	340	27	,	,	PUNCT
fumecheng-13939	340	28	vi	vi	X
fumecheng-13939	340	29	<	<	X
fumecheng-13939	340	30	0	0	PROPN
fumecheng-13939	340	31	,	,	PUNCT
fumecheng-13939	340	32	the	the	DET
fumecheng-13939	340	33	input	input	NOUN
fumecheng-13939	340	34	ui	ui	PROPN
fumecheng-13939	341	1	=	=	PUNCT
fumecheng-13939	341	2	ui1	ui1	PROPN
fumecheng-13939	341	3	+	+	CCONJ
fumecheng-13939	341	4	ui2	ui2	NOUN
fumecheng-13939	341	5	of	of	ADP
fumecheng-13939	341	6	the	the	DET
fumecheng-13939	341	7	controller	controller	NOUN
fumecheng-13939	341	8	was	be	AUX
fumecheng-13939	341	9	designed	design	VERB
fumecheng-13939	341	10	as	as	ADP
fumecheng-13939	341	11	:	:	SYM
fumecheng-13939	341	12	1	1	NUM
fumecheng-13939	341	13	1	1	NUM
fumecheng-13939	341	14	1	1	NUM
fumecheng-13939	341	15	2	2	NUM
fumecheng-13939	341	16	(	(	PUNCT
fumecheng-13939	341	17	)	)	PUNCT
fumecheng-13939	341	18	(	(	PUNCT
fumecheng-13939	341	19	(	(	PUNCT
fumecheng-13939	341	20	)	)	PUNCT
fumecheng-13939	341	21	(	(	PUNCT
fumecheng-13939	341	22	(	(	PUNCT
fumecheng-13939	341	23	)	)	PUNCT
fumecheng-13939	341	24	(	(	PUNCT
fumecheng-13939	341	25	)	)	PUNCT
fumecheng-13939	341	26	)	)	PUNCT
fumecheng-13939	342	1	(	(	PUNCT
fumecheng-13939	342	2	sign	sign	NOUN
fumecheng-13939	342	3	(	(	PUNCT
fumecheng-13939	342	4	)	)	PUNCT
fumecheng-13939	342	5	)	)	PUNCT
fumecheng-13939	342	6	)	)	PUNCT
fumecheng-13939	343	1	(	(	PUNCT
fumecheng-13939	343	2	(	(	PUNCT
fumecheng-13939	343	3	)	)	PUNCT
fumecheng-13939	343	4	)	)	PUNCT
fumecheng-13939	343	5	(	(	PUNCT
fumecheng-13939	343	6	)	)	PUNCT
fumecheng-13939	343	7	t	t	NOUN
fumecheng-13939	343	8	t	t	PROPN
fumecheng-13939	343	9	t	t	PROPN
fumecheng-13939	343	10	t	t	PROPN
fumecheng-13939	344	1	i	i	PRON
fumecheng-13939	344	2	i	i	PRON
fumecheng-13939	345	1	i	i	PRON
fumecheng-13939	346	1	i	i	PRON
fumecheng-13939	346	2	ri	ri	VERB
fumecheng-13939	347	1	i	i	INTJ
fumecheng-13939	347	2	yi	yi	INTJ
fumecheng-13939	348	1	i	i	PRON
fumecheng-13939	348	2	i	i	PRON
fumecheng-13939	349	1	i	i	PRON
fumecheng-13939	349	2	t	t	X
fumecheng-13939	350	1	t	t	NOUN
fumecheng-13939	351	1	i	i	PRON
fumecheng-13939	351	2	i	i	PRON
fumecheng-13939	352	1	i	i	PRON
fumecheng-13939	353	1	i	i	PRON
fumecheng-13939	353	2	t	t	VERB
fumecheng-13939	354	1	i	i	PRON
fumecheng-13939	355	1	i	i	PRON
fumecheng-13939	355	2	t	t	PROPN
fumecheng-13939	355	3			ADV
fumecheng-13939	355	4			VERB
fumecheng-13939	355	5			PROPN
fumecheng-13939	355	6			ADV
fumecheng-13939	355	7			PUNCT
fumecheng-13939	355	8			NOUN
fumecheng-13939	355	9			PROPN
fumecheng-13939	355	10			NUM
fumecheng-13939	355	11			NOUN
fumecheng-13939	355	12			PROPN
fumecheng-13939	355	13	u	u	PROPN
fumecheng-13939	355	14	b	b	PROPN
fumecheng-13939	355	15	bb	bb	NOUN
fumecheng-13939	355	16	l	l	NOUN
fumecheng-13939	355	17	c	c	NOUN
fumecheng-13939	356	1	l	l	NOUN
fumecheng-13939	356	2	c	c	NOUN
fumecheng-13939	356	3	l	l	NOUN
fumecheng-13939	356	4	c	c	NOUN
fumecheng-13939	356	5	y	y	PROPN
fumecheng-13939	356	6	k	k	PROPN
fumecheng-13939	356	7	e	e	NOUN
fumecheng-13939	356	8	s	s	X
fumecheng-13939	356	9	ax	ax	NOUN
fumecheng-13939	356	10	λ	λ	X
fumecheng-13939	356	11	x	x	SYM
fumecheng-13939	356	12	s	s	PROPN
fumecheng-13939	356	13	l	l	X
fumecheng-13939	356	14	cb	cb	PROPN
fumecheng-13939	356	15	u	u	PROPN
fumecheng-13939	356	16	s	s	PROPN
fumecheng-13939	356	17	l	l	NOUN
fumecheng-13939	356	18	cb	cb	X
fumecheng-13939	356	19	(	(	PUNCT
fumecheng-13939	356	20	30	30	NUM
fumecheng-13939	356	21	)	)	PUNCT
fumecheng-13939	356	22	fault	fault	NOUN
fumecheng-13939	356	23	-	-	PUNCT
fumecheng-13939	356	24	tolerant	tolerant	ADJ
fumecheng-13939	356	25	control	control	NOUN
fumecheng-13939	356	26	of	of	ADP
fumecheng-13939	356	27	low	low	ADJ
fumecheng-13939	356	28	-	-	PUNCT
fumecheng-13939	356	29	altitude	altitude	NOUN
fumecheng-13939	356	30	unmanned	unmanned	ADJ
fumecheng-13939	356	31	aerial	aerial	ADJ
fumecheng-13939	356	32	vehicle	vehicle	NOUN
fumecheng-13939	356	33	swarms	swarm	NOUN
fumecheng-13939	356	34	using	use	VERB
fumecheng-13939	356	35	...	...	PUNCT
fumecheng-13939	356	36	11	11	NUM
fumecheng-13939	356	37	where	where	SCONJ
fumecheng-13939	356	38	ρi	ρi	VERB
fumecheng-13939	356	39	>	>	X
fumecheng-13939	356	40	0	0	NUM
fumecheng-13939	356	41	is	be	AUX
fumecheng-13939	356	42	the	the	DET
fumecheng-13939	356	43	designed	design	VERB
fumecheng-13939	356	44	gain	gain	NOUN
fumecheng-13939	356	45	,	,	PUNCT
fumecheng-13939	356	46	and	and	CCONJ
fumecheng-13939	356	47	sign(si	sign(si	PROPN
fumecheng-13939	356	48	)	)	PUNCT
fumecheng-13939	356	49	is	be	AUX
fumecheng-13939	356	50	the	the	DET
fumecheng-13939	356	51	designed	design	VERB
fumecheng-13939	356	52	sign	sign	NOUN
fumecheng-13939	356	53	function	function	NOUN
fumecheng-13939	356	54	vector	vector	NOUN
fumecheng-13939	356	55	.	.	PUNCT
fumecheng-13939	357	1	substituting	substitute	VERB
fumecheng-13939	357	2	eq	eq	ADP
fumecheng-13939	357	3	.	.	PUNCT
fumecheng-13939	358	1	(	(	PUNCT
fumecheng-13939	358	2	30	30	NUM
fumecheng-13939	358	3	)	)	PUNCT
fumecheng-13939	358	4	into	into	ADP
fumecheng-13939	358	5	eq	eq	NOUN
fumecheng-13939	358	6	.	.	PUNCT
fumecheng-13939	359	1	(	(	PUNCT
fumecheng-13939	359	2	29	29	NUM
fumecheng-13939	359	3	)	)	PUNCT
fumecheng-13939	359	4	,	,	PUNCT
fumecheng-13939	359	5	the	the	DET
fumecheng-13939	359	6	following	follow	VERB
fumecheng-13939	359	7	can	can	AUX
fumecheng-13939	359	8	be	be	AUX
fumecheng-13939	359	9	obtained	obtain	VERB
fumecheng-13939	359	10	from	from	ADP
fumecheng-13939	359	11	eq	eq	PROPN
fumecheng-13939	359	12	.	.	PUNCT
fumecheng-13939	360	1	(	(	PUNCT
fumecheng-13939	360	2	25	25	NUM
fumecheng-13939	360	3	):	):	SYM
fumecheng-13939	360	4	2	2	NUM
fumecheng-13939	360	5	1	1	NUM
fumecheng-13939	360	6	(	(	PUNCT
fumecheng-13939	360	7	(	(	PUNCT
fumecheng-13939	360	8	)	)	PUNCT
fumecheng-13939	360	9	)	)	PUNCT
fumecheng-13939	360	10	(	(	PUNCT
fumecheng-13939	360	11	)	)	PUNCT
fumecheng-13939	360	12	v	v	NOUN
fumecheng-13939	360	13	sign	sign	NOUN
fumecheng-13939	360	14	(	(	PUNCT
fumecheng-13939	360	15	)	)	PUNCT
fumecheng-13939	360	16	(	(	PUNCT
fumecheng-13939	360	17	(	(	PUNCT
fumecheng-13939	360	18	)	)	PUNCT
fumecheng-13939	360	19	)	)	PUNCT
fumecheng-13939	360	20	(	(	PUNCT
fumecheng-13939	360	21	(	(	PUNCT
fumecheng-13939	360	22	)	)	PUNCT
fumecheng-13939	360	23	)	)	PUNCT
fumecheng-13939	360	24	sign	sign	NOUN
fumecheng-13939	360	25	(	(	PUNCT
fumecheng-13939	360	26	)	)	PUNCT
fumecheng-13939	360	27	(	(	PUNCT
fumecheng-13939	360	28	(	(	PUNCT
fumecheng-13939	360	29	)	)	PUNCT
fumecheng-13939	360	30	)	)	PUNCT
fumecheng-13939	360	31	(	(	PUNCT
fumecheng-13939	360	32	(	(	PUNCT
fumecheng-13939	360	33	)	)	PUNCT
fumecheng-13939	360	34	)	)	PUNCT
fumecheng-13939	360	35	0	0	NUM
fumecheng-13939	361	1	t	t	NOUN
fumecheng-13939	361	2	t	t	PROPN
fumecheng-13939	361	3	t	t	PROPN
fumecheng-13939	361	4	t	t	NOUN
fumecheng-13939	361	5	ti	ti	PROPN
fumecheng-13939	362	1	i	i	PRON
fumecheng-13939	362	2	i	i	PRON
fumecheng-13939	363	1	i	i	PRON
fumecheng-13939	363	2	i	i	PRON
fumecheng-13939	364	1	i	i	PRON
fumecheng-13939	364	2	i	i	PRON
fumecheng-13939	365	1	i	i	PRON
fumecheng-13939	365	2	i	i	PRON
fumecheng-13939	366	1	i	i	PRON
fumecheng-13939	366	2	i	i	PRON
fumecheng-13939	367	1	it	it	PRON
fumecheng-13939	368	1	i	i	PRON
fumecheng-13939	369	1	i	i	PRON
fumecheng-13939	369	2	t	t	NOUN
fumecheng-13939	370	1	t	t	PROPN
fumecheng-13939	370	2	t	t	PROPN
fumecheng-13939	371	1	i	i	PRON
fumecheng-13939	371	2	i	i	PRON
fumecheng-13939	372	1	i	i	PRON
fumecheng-13939	372	2	i	i	PRON
fumecheng-13939	373	1	i	i	PRON
fumecheng-13939	373	2	i	i	PRON
fumecheng-13939	374	1	i	i	PRON
fumecheng-13939	374	2	i	i	PRON
fumecheng-13939	375	1	i	i	PRON
fumecheng-13939	375	2	i	i	PRON
fumecheng-13939	376	1	i	i	PRON
fumecheng-13939	376	2	n	n	VERB
fumecheng-13939	376	3	t	t	PROPN
fumecheng-13939	376	4	t	t	PROPN
fumecheng-13939	376	5	t	t	PROPN
fumecheng-13939	376	6	t	t	PROPN
fumecheng-13939	376	7			ADP
fumecheng-13939	376	8			ADP
fumecheng-13939	376	9			ADP
fumecheng-13939	376	10			PROPN
fumecheng-13939	376	11			PROPN
fumecheng-13939	376	12			PROPN
fumecheng-13939	376	13			PROPN
fumecheng-13939	376	14			PROPN
fumecheng-13939	376	15			NOUN
fumecheng-13939	376	16			PROPN
fumecheng-13939	376	17			PROPN
fumecheng-13939	376	18			PART
fumecheng-13939	376	19			NUM
fumecheng-13939	376	20			NOUN
fumecheng-13939	376	21			X
fumecheng-13939	376	22			NOUN
fumecheng-13939	376	23	λ	λ	VERB
fumecheng-13939	376	24	x	x	SYM
fumecheng-13939	376	25	s	s	PROPN
fumecheng-13939	376	26	l	l	NOUN
fumecheng-13939	376	27	cb	cb	PROPN
fumecheng-13939	376	28	s	s	X
fumecheng-13939	376	29	s	s	NOUN
fumecheng-13939	376	30	s	s	NOUN
fumecheng-13939	376	31	l	l	NOUN
fumecheng-13939	376	32	c	c	NOUN
fumecheng-13939	376	33	b	b	PROPN
fumecheng-13939	376	34	s	s	X
fumecheng-13939	376	35	l	l	NOUN
fumecheng-13939	376	36	cg	cg	NOUN
fumecheng-13939	376	37	x	x	SYM
fumecheng-13939	376	38	s	s	PROPN
fumecheng-13939	376	39	l	l	NOUN
fumecheng-13939	377	1	cb	cb	PROPN
fumecheng-13939	377	2	s	s	PROPN
fumecheng-13939	377	3	s	s	PROPN
fumecheng-13939	377	4	λ	λ	X
fumecheng-13939	377	5	x	x	SYM
fumecheng-13939	377	6	s	s	PROPN
fumecheng-13939	377	7	l	l	NOUN
fumecheng-13939	377	8	cb	cb	PROPN
fumecheng-13939	377	9	s	s	PROPN
fumecheng-13939	377	10	l	l	NOUN
fumecheng-13939	377	11	cg	cg	NOUN
fumecheng-13939	377	12	x	x	X
fumecheng-13939	377	13	s	s	X
fumecheng-13939	377	14	(	(	PUNCT
fumecheng-13939	377	15	31	31	NUM
fumecheng-13939	377	16	)	)	PUNCT
fumecheng-13939	377	17	this	this	PRON
fumecheng-13939	377	18	indicates	indicate	VERB
fumecheng-13939	377	19	that	that	SCONJ
fumecheng-13939	377	20	the	the	DET
fumecheng-13939	377	21	system	system	NOUN
fumecheng-13939	377	22	can	can	AUX
fumecheng-13939	377	23	stabilize	stabilize	VERB
fumecheng-13939	377	24	on	on	ADP
fumecheng-13939	377	25	the	the	DET
fumecheng-13939	377	26	sliding	slide	VERB
fumecheng-13939	377	27	surface	surface	NOUN
fumecheng-13939	377	28	after	after	ADP
fumecheng-13939	377	29	reaching	reach	VERB
fumecheng-13939	377	30	the	the	DET
fumecheng-13939	377	31	sliding	slide	VERB
fumecheng-13939	377	32	surface	surface	NOUN
fumecheng-13939	377	33	.	.	PUNCT
fumecheng-13939	378	1	after	after	ADP
fumecheng-13939	378	2	designing	design	VERB
fumecheng-13939	378	3	the	the	DET
fumecheng-13939	378	4	sliding	slide	VERB
fumecheng-13939	378	5	mode	mode	NOUN
fumecheng-13939	378	6	controller	controller	NOUN
fumecheng-13939	378	7	,	,	PUNCT
fumecheng-13939	378	8	it	it	PRON
fumecheng-13939	378	9	is	be	AUX
fumecheng-13939	378	10	necessary	necessary	ADJ
fumecheng-13939	378	11	to	to	PART
fumecheng-13939	378	12	design	design	VERB
fumecheng-13939	378	13	a	a	DET
fumecheng-13939	378	14	sliding	slide	VERB
fumecheng-13939	378	15	mode	mode	NOUN
fumecheng-13939	378	16	observer	observer	NOUN
fumecheng-13939	378	17	to	to	PART
fumecheng-13939	378	18	observe	observe	VERB
fumecheng-13939	378	19	the	the	DET
fumecheng-13939	378	20	fault	fault	NOUN
fumecheng-13939	378	21	.	.	PUNCT
fumecheng-13939	379	1	the	the	DET
fumecheng-13939	379	2	reconstruction	reconstruction	NOUN
fumecheng-13939	379	3	of	of	ADP
fumecheng-13939	379	4	eq	eq	PROPN
fumecheng-13939	379	5	.	.	PUNCT
fumecheng-13939	380	1	(	(	PUNCT
fumecheng-13939	380	2	21	21	NUM
fumecheng-13939	380	3	)	)	PUNCT
fumecheng-13939	380	4	can	can	AUX
fumecheng-13939	380	5	be	be	AUX
fumecheng-13939	380	6	obtained	obtain	VERB
fumecheng-13939	380	7	as	as	SCONJ
fumecheng-13939	380	8	follows	follow	VERB
fumecheng-13939	380	9	:	:	PUNCT
fumecheng-13939	380	10	1	1	NUM
fumecheng-13939	380	11	11	11	NUM
fumecheng-13939	380	12	1	1	NUM
fumecheng-13939	380	13	12	12	NUM
fumecheng-13939	380	14	2	2	NUM
fumecheng-13939	380	15	1	1	NUM
fumecheng-13939	380	16	1	1	NUM
fumecheng-13939	380	17	1	1	NUM
fumecheng-13939	380	18	2	2	NUM
fumecheng-13939	380	19	21	21	NUM
fumecheng-13939	380	20	1	1	NUM
fumecheng-13939	380	21	22	22	NUM
fumecheng-13939	380	22	2	2	NUM
fumecheng-13939	380	23	2	2	NUM
fumecheng-13939	380	24	2	2	NUM
fumecheng-13939	380	25	2	2	NUM
fumecheng-13939	380	26	2	2	NUM
fumecheng-13939	380	27	(	(	PUNCT
fumecheng-13939	380	28	)	)	PUNCT
fumecheng-13939	380	29	(	(	PUNCT
fumecheng-13939	380	30	)	)	PUNCT
fumecheng-13939	380	31	(	(	PUNCT
fumecheng-13939	380	32	)	)	PUNCT
fumecheng-13939	380	33	(	(	PUNCT
fumecheng-13939	380	34	(	(	PUNCT
fumecheng-13939	380	35	)	)	PUNCT
fumecheng-13939	380	36	,	,	PUNCT
fumecheng-13939	380	37	(	(	PUNCT
fumecheng-13939	380	38	)	)	PUNCT
fumecheng-13939	380	39	)	)	PUNCT
fumecheng-13939	381	1	(	(	PUNCT
fumecheng-13939	381	2	)	)	PUNCT
fumecheng-13939	381	3	(	(	PUNCT
fumecheng-13939	381	4	)	)	PUNCT
fumecheng-13939	381	5	(	(	PUNCT
fumecheng-13939	381	6	)	)	PUNCT
fumecheng-13939	381	7	(	(	PUNCT
fumecheng-13939	381	8	)	)	PUNCT
fumecheng-13939	381	9	(	(	PUNCT
fumecheng-13939	381	10	)	)	PUNCT
fumecheng-13939	381	11	(	(	PUNCT
fumecheng-13939	381	12	(	(	PUNCT
fumecheng-13939	381	13	)	)	PUNCT
fumecheng-13939	381	14	,	,	PUNCT
fumecheng-13939	381	15	(	(	PUNCT
fumecheng-13939	381	16	)	)	PUNCT
fumecheng-13939	381	17	)	)	PUNCT
fumecheng-13939	382	1	(	(	PUNCT
fumecheng-13939	382	2	)	)	PUNCT
fumecheng-13939	382	3	(	(	PUNCT
fumecheng-13939	382	4	)	)	PUNCT
fumecheng-13939	382	5	(	(	PUNCT
fumecheng-13939	382	6	)	)	PUNCT
fumecheng-13939	382	7	(	(	PUNCT
fumecheng-13939	382	8	)	)	PUNCT
fumecheng-13939	382	9	i	i	PRON
fumecheng-13939	382	10	i	i	PRON
fumecheng-13939	383	1	i	i	PRON
fumecheng-13939	383	2	i	i	PRON
fumecheng-13939	384	1	i	i	PRON
fumecheng-13939	384	2	i	i	PRON
fumecheng-13939	385	1	i	i	PRON
fumecheng-13939	385	2	i	i	PRON
fumecheng-13939	386	1	i	i	PRON
fumecheng-13939	386	2	i	i	PRON
fumecheng-13939	387	1	i	i	PRON
fumecheng-13939	387	2	i	i	PRON
fumecheng-13939	388	1	i	i	PRON
fumecheng-13939	388	2	i	i	PRON
fumecheng-13939	389	1	i	i	PRON
fumecheng-13939	390	1	i	i	PRON
fumecheng-13939	390	2	t	t	NOUN
fumecheng-13939	391	1	t	t	PROPN
fumecheng-13939	391	2	t	t	PROPN
fumecheng-13939	391	3	t	t	PROPN
fumecheng-13939	391	4	t	t	PROPN
fumecheng-13939	391	5	t	t	PROPN
fumecheng-13939	391	6	t	t	PROPN
fumecheng-13939	391	7	t	t	PROPN
fumecheng-13939	391	8	t	t	PROPN
fumecheng-13939	391	9	t	t	PROPN
fumecheng-13939	391	10	t	t	PROPN
fumecheng-13939	391	11	t	t	PROPN
fumecheng-13939	391	12	t	t	PROPN
fumecheng-13939	391	13	t	t	PROPN
fumecheng-13939	391	14	t	t	PROPN
fumecheng-13939	391	15	t	t	PROPN
fumecheng-13939	391	16			PROPN
fumecheng-13939	391	17			ADV
fumecheng-13939	391	18			PUNCT
fumecheng-13939	391	19			PUNCT
fumecheng-13939	391	20			NUM
fumecheng-13939	391	21			NUM
fumecheng-13939	391	22			PROPN
fumecheng-13939	391	23			PROPN
fumecheng-13939	391	24			PUNCT
fumecheng-13939	391	25			PUNCT
fumecheng-13939	391	26			VERB
fumecheng-13939	391	27			NUM
fumecheng-13939	391	28			NOUN
fumecheng-13939	391	29			NOUN
fumecheng-13939	391	30			NOUN
fumecheng-13939	391	31	x	x	PUNCT
fumecheng-13939	391	32	a	a	PRON
fumecheng-13939	391	33	x	x	SYM
fumecheng-13939	391	34	a	a	PRON
fumecheng-13939	391	35	x	x	SYM
fumecheng-13939	391	36	g	g	NOUN
fumecheng-13939	391	37	x	x	SYM
fumecheng-13939	391	38	u	u	NOUN
fumecheng-13939	391	39	d	d	X
fumecheng-13939	391	40	e	e	X
fumecheng-13939	391	41	f	f	X
fumecheng-13939	391	42	x	x	X
fumecheng-13939	391	43	a	a	PRON
fumecheng-13939	391	44	x	x	SYM
fumecheng-13939	391	45	a	a	PRON
fumecheng-13939	391	46	x	x	SYM
fumecheng-13939	391	47	g	g	NOUN
fumecheng-13939	391	48	x	x	SYM
fumecheng-13939	391	49	u	u	NOUN
fumecheng-13939	391	50	d	d	PROPN
fumecheng-13939	391	51	y	y	PROPN
fumecheng-13939	391	52	φ	φ	X
fumecheng-13939	391	53	e	e	PROPN
fumecheng-13939	391	54	f	f	PROPN
fumecheng-13939	391	55	x	x	SYM
fumecheng-13939	391	56	φ	φ	PROPN
fumecheng-13939	391	57	(	(	PUNCT
fumecheng-13939	391	58	32	32	NUM
fumecheng-13939	391	59	)	)	PUNCT
fumecheng-13939	391	60	where	where	SCONJ
fumecheng-13939	391	61	xi1	xi1	PROPN
fumecheng-13939	391	62	,	,	PUNCT
fumecheng-13939	391	63	xi2	xi2	PROPN
fumecheng-13939	392	1			PROPN
fumecheng-13939	392	2	rp	rp	PROPN
fumecheng-13939	392	3	are	be	AUX
fumecheng-13939	392	4	the	the	DET
fumecheng-13939	392	5	upper	upper	ADJ
fumecheng-13939	392	6	and	and	CCONJ
fumecheng-13939	392	7	lower	low	ADJ
fumecheng-13939	392	8	parts	part	NOUN
fumecheng-13939	392	9	obtained	obtain	VERB
fumecheng-13939	392	10	by	by	ADP
fumecheng-13939	392	11	decomposing	decompose	VERB
fumecheng-13939	392	12	the	the	DET
fumecheng-13939	392	13	system	system	NOUN
fumecheng-13939	392	14	state	state	NOUN
fumecheng-13939	392	15	vector	vector	NOUN
fumecheng-13939	392	16	xi	xi	PROPN
fumecheng-13939	392	17	,	,	PUNCT
fumecheng-13939	392	18	g1(xi(t),ui(t	g1(xi(t),ui(t	NOUN
fumecheng-13939	392	19	)	)	PUNCT
fumecheng-13939	392	20	)	)	PUNCT
fumecheng-13939	392	21	and	and	CCONJ
fumecheng-13939	392	22	g2(xi(t),ui(t	g2(xi(t),ui(t	NOUN
fumecheng-13939	392	23	)	)	PUNCT
fumecheng-13939	392	24	)	)	PUNCT
fumecheng-13939	393	1	are	be	AUX
fumecheng-13939	393	2	the	the	DET
fumecheng-13939	393	3	upper	upper	ADJ
fumecheng-13939	393	4	and	and	CCONJ
fumecheng-13939	393	5	lower	low	ADJ
fumecheng-13939	393	6	parts	part	NOUN
fumecheng-13939	393	7	obtained	obtain	VERB
fumecheng-13939	393	8	by	by	ADP
fumecheng-13939	393	9	decomposing	decompose	VERB
fumecheng-13939	393	10	g(xi(t),ui(t	g(xi(t),ui(t	NOUN
fumecheng-13939	393	11	)	)	PUNCT
fumecheng-13939	393	12	)	)	PUNCT
fumecheng-13939	393	13	,	,	PUNCT
fumecheng-13939	393	14	fi(t	fi(t	NOUN
fumecheng-13939	393	15	)	)	PUNCT
fumecheng-13939	393	16	denotes	denote	VERB
fumecheng-13939	393	17	the	the	DET
fumecheng-13939	393	18	unknown	unknown	ADJ
fumecheng-13939	393	19	fault	fault	NOUN
fumecheng-13939	393	20	term	term	NOUN
fumecheng-13939	393	21	of	of	ADP
fumecheng-13939	393	22	the	the	DET
fumecheng-13939	393	23	system	system	NOUN
fumecheng-13939	393	24	and	and	CCONJ
fumecheng-13939	393	25	has	have	VERB
fumecheng-13939	393	26	a	a	DET
fumecheng-13939	393	27	known	know	VERB
fumecheng-13939	393	28	upper	upper	ADJ
fumecheng-13939	393	29	bound	bind	VERB
fumecheng-13939	393	30	γ2	γ2	NOUN
fumecheng-13939	393	31	,	,	PUNCT
fumecheng-13939	393	32	φi(t	φi(t	NOUN
fumecheng-13939	393	33	)	)	PUNCT
fumecheng-13939	393	34	represents	represent	VERB
fumecheng-13939	393	35	the	the	DET
fumecheng-13939	393	36	unknown	unknown	ADJ
fumecheng-13939	393	37	nonlinear	nonlinear	ADJ
fumecheng-13939	393	38	disturbance	disturbance	NOUN
fumecheng-13939	393	39	and	and	CCONJ
fumecheng-13939	393	40	parameter	parameter	NOUN
fumecheng-13939	393	41	uncertainty	uncertainty	NOUN
fumecheng-13939	393	42	of	of	ADP
fumecheng-13939	393	43	the	the	DET
fumecheng-13939	393	44	system	system	NOUN
fumecheng-13939	393	45	,	,	PUNCT
fumecheng-13939	393	46	and	and	CCONJ
fumecheng-13939	393	47	d1	d1	PROPN
fumecheng-13939	393	48	,	,	PUNCT
fumecheng-13939	393	49	d2	d2	PROPN
fumecheng-13939	393	50	,	,	PUNCT
fumecheng-13939	393	51	e1	e1	PROPN
fumecheng-13939	393	52	and	and	CCONJ
fumecheng-13939	393	53	e2	e2	PROPN
fumecheng-13939	393	54	are	be	AUX
fumecheng-13939	393	55	the	the	DET
fumecheng-13939	393	56	time	time	NOUN
fumecheng-13939	393	57	-	-	PUNCT
fumecheng-13939	393	58	invariant	invariant	ADJ
fumecheng-13939	393	59	coefficient	coefficient	NOUN
fumecheng-13939	393	60	matrices	matrix	NOUN
fumecheng-13939	393	61	.	.	PUNCT
fumecheng-13939	394	1	assumption	assumption	NOUN
fumecheng-13939	394	2	2	2	NUM
fumecheng-13939	394	3	:	:	PUNCT
fumecheng-13939	394	4	in	in	ADP
fumecheng-13939	394	5	eq	eq	ADP
fumecheng-13939	394	6	.	.	PUNCT
fumecheng-13939	395	1	(	(	PUNCT
fumecheng-13939	395	2	21	21	NUM
fumecheng-13939	395	3	)	)	PUNCT
fumecheng-13939	395	4	,	,	PUNCT
fumecheng-13939	395	5	the	the	DET
fumecheng-13939	395	6	matrix	matrix	NOUN
fumecheng-13939	395	7	pair	pair	NOUN
fumecheng-13939	395	8	(	(	PUNCT
fumecheng-13939	395	9	a	a	PRON
fumecheng-13939	395	10	,	,	PUNCT
fumecheng-13939	395	11	c	c	NOUN
fumecheng-13939	395	12	)	)	PUNCT
fumecheng-13939	395	13	is	be	AUX
fumecheng-13939	395	14	detectable	detectable	ADJ
fumecheng-13939	395	15	.	.	PUNCT
fumecheng-13939	396	1	from	from	ADP
fumecheng-13939	396	2	assumption	assumption	NOUN
fumecheng-13939	396	3	2	2	NUM
fumecheng-13939	396	4	,	,	PUNCT
fumecheng-13939	396	5	there	there	PRON
fumecheng-13939	396	6	exists	exist	VERB
fumecheng-13939	396	7	a	a	DET
fumecheng-13939	396	8	matrix	matrix	NOUN
fumecheng-13939	396	9	l	l	NOUN
fumecheng-13939	396	10	such	such	ADJ
fumecheng-13939	396	11	that	that	SCONJ
fumecheng-13939	396	12	the	the	DET
fumecheng-13939	396	13	matrix	matrix	NOUN
fumecheng-13939	396	14	a	a	DET
fumecheng-13939	396	15	-	-	PUNCT
fumecheng-13939	396	16	lc	lc	NOUN
fumecheng-13939	396	17	is	be	AUX
fumecheng-13939	396	18	stable	stable	ADJ
fumecheng-13939	396	19	and	and	CCONJ
fumecheng-13939	396	20	satisfies	satisfy	VERB
fumecheng-13939	396	21	the	the	DET
fumecheng-13939	396	22	following	follow	VERB
fumecheng-13939	396	23	lyapunov	lyapunov	ADJ
fumecheng-13939	396	24	equation	equation	NOUN
fumecheng-13939	396	25	:	:	PUNCT
fumecheng-13939	396	26	(	(	PUNCT
fumecheng-13939	396	27	)	)	PUNCT
fumecheng-13939	396	28	(	(	PUNCT
fumecheng-13939	396	29	)	)	PUNCT
fumecheng-13939	396	30	t	t	PROPN
fumecheng-13939	396	31			PUNCT
fumecheng-13939	396	32			PROPN
fumecheng-13939	396	33			PROPN
fumecheng-13939	396	34	a	a	ADV
fumecheng-13939	396	35	lc	lc	PROPN
fumecheng-13939	397	1	p	p	PROPN
fumecheng-13939	397	2	p	p	PROPN
fumecheng-13939	397	3	a	a	DET
fumecheng-13939	397	4	lc	lc	NOUN
fumecheng-13939	398	1	q	q	NOUN
fumecheng-13939	399	1	(	(	PUNCT
fumecheng-13939	399	2	33	33	NUM
fumecheng-13939	399	3	)	)	PUNCT
fumecheng-13939	399	4	where	where	SCONJ
fumecheng-13939	399	5	q	q	X
fumecheng-13939	399	6	>	>	X
fumecheng-13939	399	7	0	0	NUM
fumecheng-13939	399	8	,	,	PUNCT
fumecheng-13939	399	9	and	and	CCONJ
fumecheng-13939	399	10	there	there	PRON
fumecheng-13939	399	11	exists	exist	VERB
fumecheng-13939	399	12	a	a	DET
fumecheng-13939	399	13	unique	unique	ADJ
fumecheng-13939	399	14	solution	solution	NOUN
fumecheng-13939	399	15	p	p	X
fumecheng-13939	399	16	>	>	X
fumecheng-13939	399	17	0	0	PUNCT
fumecheng-13939	399	18	for	for	ADP
fumecheng-13939	399	19	eq	eq	PROPN
fumecheng-13939	399	20	.	.	PUNCT
fumecheng-13939	400	1	(	(	PUNCT
fumecheng-13939	400	2	33	33	NUM
fumecheng-13939	400	3	)	)	PUNCT
fumecheng-13939	400	4	.	.	PUNCT
fumecheng-13939	401	1	the	the	DET
fumecheng-13939	401	2	linear	linear	PROPN
fumecheng-13939	401	3	transformation	transformation	NOUN
fumecheng-13939	401	4	zi	zi	PROPN
fumecheng-13939	401	5			PROPN
fumecheng-13939	401	6	txi	txi	PROPN
fumecheng-13939	401	7	was	be	AUX
fumecheng-13939	401	8	introduced	introduce	VERB
fumecheng-13939	401	9	,	,	PUNCT
fumecheng-13939	401	10	where	where	SCONJ
fumecheng-13939	401	11	:	:	PUNCT
fumecheng-13939	401	12	1	1	NUM
fumecheng-13939	401	13	1	1	NUM
fumecheng-13939	401	14	2n	2n	NUM
fumecheng-13939	401	15	p	p	ADP
fumecheng-13939	401	16	p	p	X
fumecheng-13939	401	17			NOUN
fumecheng-13939	401	18			NOUN
fumecheng-13939	401	19			NOUN
fumecheng-13939	401	20			PROPN
fumecheng-13939	401	21			NOUN
fumecheng-13939	401	22			NOUN
fumecheng-13939	401	23			NOUN
fumecheng-13939	401	24			PROPN
fumecheng-13939	401	25	0	0	PROPN
fumecheng-13939	402	1	i	i	PRON
fumecheng-13939	403	1	p	p	NOUN
fumecheng-13939	403	2	p	p	X
fumecheng-13939	403	3	t	t	X
fumecheng-13939	404	1	i	i	PRON
fumecheng-13939	404	2	(	(	PUNCT
fumecheng-13939	404	3	34	34	NUM
fumecheng-13939	404	4	)	)	SYM
fumecheng-13939	404	5	1	1	NUM
fumecheng-13939	404	6	2	2	NUM
fumecheng-13939	404	7	1	1	NUM
fumecheng-13939	404	8	2	2	NUM
fumecheng-13939	404	9	2	2	NUM
fumecheng-13939	404	10	3	3	NUM
fumecheng-13939	404	11	2	2	NUM
fumecheng-13939	404	12	3	3	NUM
fumecheng-13939	404	13	,	,	PUNCT
fumecheng-13939	404	14	t	t	PROPN
fumecheng-13939	404	15	tq	tq	INTJ
fumecheng-13939	404	16			PROPN
fumecheng-13939	404	17			INTJ
fumecheng-13939	404	18			PROPN
fumecheng-13939	404	19			NOUN
fumecheng-13939	404	20			PROPN
fumecheng-13939	404	21			ADJ
fumecheng-13939	404	22			ADJ
fumecheng-13939	404	23			NOUN
fumecheng-13939	404	24			NOUN
fumecheng-13939	404	25			NOUN
fumecheng-13939	404	26			PROPN
fumecheng-13939	404	27			VERB
fumecheng-13939	404	28			PROPN
fumecheng-13939	404	29	p	p	PROPN
fumecheng-13939	404	30	p	p	X
fumecheng-13939	404	31	q	q	PROPN
fumecheng-13939	404	32	q	q	X
fumecheng-13939	404	33	p	p	X
fumecheng-13939	404	34	p	p	X
fumecheng-13939	404	35	p	p	X
fumecheng-13939	404	36	q	q	X
fumecheng-13939	404	37	q	q	X
fumecheng-13939	404	38	(	(	PUNCT
fumecheng-13939	404	39	35	35	NUM
fumecheng-13939	404	40	)	)	PUNCT
fumecheng-13939	404	41	substituting	substitute	VERB
fumecheng-13939	404	42	eq	eq	PROPN
fumecheng-13939	404	43	.	.	PUNCT
fumecheng-13939	405	1	(	(	PUNCT
fumecheng-13939	405	2	32	32	NUM
fumecheng-13939	405	3	)	)	PUNCT
fumecheng-13939	405	4	leads	lead	VERB
fumecheng-13939	405	5	to	to	ADP
fumecheng-13939	405	6	:	:	PUNCT
fumecheng-13939	405	7	1	1	NUM
fumecheng-13939	405	8	1	1	NUM
fumecheng-13939	405	9	1	1	NUM
fumecheng-13939	405	10	21	21	NUM
fumecheng-13939	405	11	11	11	NUM
fumecheng-13939	405	12	1	1	NUM
fumecheng-13939	405	13	11	11	NUM
fumecheng-13939	405	14	21	21	NUM
fumecheng-13939	405	15	12	12	NUM
fumecheng-13939	405	16	22	22	NUM
fumecheng-13939	405	17	2	2	NUM
fumecheng-13939	405	18	1	1	NUM
fumecheng-13939	405	19	1	1	NUM
fumecheng-13939	405	20	2	2	NUM
fumecheng-13939	405	21	21	21	NUM
fumecheng-13939	405	22	1	1	NUM
fumecheng-13939	405	23	21	21	NUM
fumecheng-13939	405	24	22	22	NUM
fumecheng-13939	405	25	2	2	NUM
fumecheng-13939	405	26	2	2	NUM
fumecheng-13939	405	27	2	2	NUM
fumecheng-13939	405	28	2	2	NUM
fumecheng-13939	405	29	2	2	NUM
fumecheng-13939	405	30	(	(	PUNCT
fumecheng-13939	405	31	)	)	PUNCT
fumecheng-13939	405	32	(	(	PUNCT
fumecheng-13939	405	33	(	(	PUNCT
fumecheng-13939	405	34	)	)	PUNCT
fumecheng-13939	405	35	)	)	PUNCT
fumecheng-13939	405	36	(	(	PUNCT
fumecheng-13939	405	37	,	,	PUNCT
fumecheng-13939	405	38	)	)	PUNCT
fumecheng-13939	405	39	(	(	PUNCT
fumecheng-13939	405	40	,	,	PUNCT
fumecheng-13939	405	41	)	)	PUNCT
fumecheng-13939	405	42	(	(	PUNCT
fumecheng-13939	405	43	)	)	PUNCT
fumecheng-13939	405	44	(	(	PUNCT
fumecheng-13939	405	45	,	,	PUNCT
fumecheng-13939	405	46	)	)	PUNCT
fumecheng-13939	405	47	(	(	PUNCT
fumecheng-13939	405	48	)	)	PUNCT
fumecheng-13939	405	49	(	(	PUNCT
fumecheng-13939	405	50	)	)	PUNCT
fumecheng-13939	406	1	i	i	PRON
fumecheng-13939	406	2	i	i	PRON
fumecheng-13939	407	1	i	i	PRON
fumecheng-13939	407	2	i	i	PRON
fumecheng-13939	408	1	i	i	PRON
fumecheng-13939	408	2	i	i	PRON
fumecheng-13939	409	1	i	i	PRON
fumecheng-13939	409	2	i	i	PRON
fumecheng-13939	410	1	i	i	PRON
fumecheng-13939	410	2	i	i	PRON
fumecheng-13939	411	1	i	i	PRON
fumecheng-13939	411	2	i	i	PRON
fumecheng-13939	412	1	i	i	PRON
fumecheng-13939	413	1	i	i	PRON
fumecheng-13939	414	1	i	i	PRON
fumecheng-13939	414	2	t	t	PROPN
fumecheng-13939	414	3	t	t	PROPN
fumecheng-13939	414	4			PROPN
fumecheng-13939	414	5			PROPN
fumecheng-13939	414	6			PROPN
fumecheng-13939	414	7			ADP
fumecheng-13939	414	8			PROPN
fumecheng-13939	414	9			PUNCT
fumecheng-13939	414	10			PROPN
fumecheng-13939	414	11			VERB
fumecheng-13939	414	12			PROPN
fumecheng-13939	414	13			PROPN
fumecheng-13939	414	14			PUNCT
fumecheng-13939	414	15			PUNCT
fumecheng-13939	414	16			NUM
fumecheng-13939	414	17			PROPN
fumecheng-13939	414	18			PROPN
fumecheng-13939	414	19			PROPN
fumecheng-13939	414	20			PUNCT
fumecheng-13939	414	21			VERB
fumecheng-13939	414	22			VERB
fumecheng-13939	414	23			NUM
fumecheng-13939	414	24			NOUN
fumecheng-13939	414	25			NOUN
fumecheng-13939	414	26	iz	iz	ADP
fumecheng-13939	414	27	ka	ka	PROPN
fumecheng-13939	415	1	a	a	DET
fumecheng-13939	415	2	z	z	NOUN
fumecheng-13939	415	3	a	a	PRON
fumecheng-13939	415	4	ka	ka	PROPN
fumecheng-13939	416	1	k	k	PROPN
fumecheng-13939	416	2	a	a	PROPN
fumecheng-13939	416	3	ka	ka	PROPN
fumecheng-13939	417	1	y	y	PROPN
fumecheng-13939	417	2	kg	kg	INTJ
fumecheng-13939	417	3	t	t	PROPN
fumecheng-13939	417	4	z	z	NOUN
fumecheng-13939	417	5	u	u	PROPN
fumecheng-13939	417	6	g	g	PROPN
fumecheng-13939	417	7	t	t	PROPN
fumecheng-13939	417	8	z	z	PROPN
fumecheng-13939	417	9	u	u	PROPN
fumecheng-13939	417	10	z	z	PROPN
fumecheng-13939	417	11	a	a	PROPN
fumecheng-13939	417	12	z	z	NOUN
fumecheng-13939	417	13	a	a	PRON
fumecheng-13939	417	14	k	k	PROPN
fumecheng-13939	417	15	a	a	DET
fumecheng-13939	417	16	z	z	NOUN
fumecheng-13939	417	17	g	g	PROPN
fumecheng-13939	417	18	t	t	PROPN
fumecheng-13939	417	19	z	z	NOUN
fumecheng-13939	417	20	u	u	NOUN
fumecheng-13939	417	21	e	e	NOUN
fumecheng-13939	417	22	f	f	PROPN
fumecheng-13939	417	23	d	d	X
fumecheng-13939	417	24	y	y	PROPN
fumecheng-13939	417	25	z	z	PROPN
fumecheng-13939	417	26	φ	φ	PROPN
fumecheng-13939	417	27	(	(	PUNCT
fumecheng-13939	417	28	36	36	NUM
fumecheng-13939	417	29	)	)	PUNCT
fumecheng-13939	417	30	where	where	SCONJ
fumecheng-13939	417	31	k	k	PROPN
fumecheng-13939	417	32	=	=	PROPN
fumecheng-13939	417	33	p1	p1	PROPN
fumecheng-13939	417	34	-1p2	-1p2	PROPN
fumecheng-13939	417	35	,	,	PUNCT
fumecheng-13939	417	36	z	z	NOUN
fumecheng-13939	417	37	=	=	SYM
fumecheng-13939	417	38	col	col	X
fumecheng-13939	417	39	(	(	PUNCT
fumecheng-13939	417	40	z1,z2	z1,z2	PROPN
fumecheng-13939	417	41	)	)	PUNCT
fumecheng-13939	417	42	and	and	CCONJ
fumecheng-13939	417	43	z1	z1	PROPN
fumecheng-13939	417	44			PROPN
fumecheng-13939	417	45	rn	rn	PROPN
fumecheng-13939	417	46	-	-	PROPN
fumecheng-13939	417	47	p.	p.	PROPN
fumecheng-13939	417	48	12	12	NUM
fumecheng-13939	417	49	l.	l.	PROPN
fumecheng-13939	417	50	xu	xu	PROPN
fumecheng-13939	418	1	for	for	ADP
fumecheng-13939	418	2	eq	eq	PROPN
fumecheng-13939	418	3	.	.	PUNCT
fumecheng-13939	419	1	(	(	PUNCT
fumecheng-13939	419	2	36	36	NUM
fumecheng-13939	419	3	)	)	PUNCT
fumecheng-13939	419	4	,	,	PUNCT
fumecheng-13939	419	5	after	after	ADP
fumecheng-13939	419	6	linear	linear	PROPN
fumecheng-13939	419	7	transformation	transformation	NOUN
fumecheng-13939	419	8	,	,	PUNCT
fumecheng-13939	419	9	a	a	DET
fumecheng-13939	419	10	sliding	slide	VERB
fumecheng-13939	419	11	mode	mode	NOUN
fumecheng-13939	419	12	-	-	PUNCT
fumecheng-13939	419	13	based	base	VERB
fumecheng-13939	419	14	observer	observer	NOUN
fumecheng-13939	419	15	was	be	AUX
fumecheng-13939	419	16	designed	design	VERB
fumecheng-13939	419	17	,	,	PUNCT
fumecheng-13939	419	18	and	and	CCONJ
fumecheng-13939	419	19	its	its	PRON
fumecheng-13939	419	20	stability	stability	NOUN
fumecheng-13939	419	21	was	be	AUX
fumecheng-13939	419	22	proved	prove	VERB
fumecheng-13939	419	23	.	.	PUNCT
fumecheng-13939	420	1	theorem	theorem	VERB
fumecheng-13939	420	2	1	1	NUM
fumecheng-13939	420	3	:	:	PUNCT
fumecheng-13939	420	4	for	for	ADP
fumecheng-13939	420	5	the	the	DET
fumecheng-13939	420	6	uav	uav	PROPN
fumecheng-13939	420	7	nonlinear	nonlinear	PROPN
fumecheng-13939	420	8	system	system	NOUN
fumecheng-13939	420	9	after	after	ADP
fumecheng-13939	420	10	linear	linear	PROPN
fumecheng-13939	420	11	transformation	transformation	NOUN
fumecheng-13939	420	12	,	,	PUNCT
fumecheng-13939	420	13	if	if	SCONJ
fumecheng-13939	420	14	λmin(q1	λmin(q1	PROPN
fumecheng-13939	420	15	)	)	PUNCT
fumecheng-13939	420	16	>	>	X
fumecheng-13939	421	1	2lg	2lg	NOUN
fumecheng-13939	422	1	‖[p1	‖[p1	PUNCT
fumecheng-13939	422	2	p2]‖min	p2]‖min	ADJ
fumecheng-13939	422	3	is	be	AUX
fumecheng-13939	422	4	satisfied	satisfied	ADJ
fumecheng-13939	422	5	,	,	PUNCT
fumecheng-13939	422	6	the	the	DET
fumecheng-13939	422	7	reduced	reduce	VERB
fumecheng-13939	422	8	-	-	PUNCT
fumecheng-13939	422	9	order	order	NOUN
fumecheng-13939	422	10	observer	observer	NOUN
fumecheng-13939	422	11	eq	eq	ADJ
fumecheng-13939	422	12	.	.	PUNCT
fumecheng-13939	423	1	(	(	PUNCT
fumecheng-13939	423	2	37	37	NUM
fumecheng-13939	423	3	)	)	PUNCT
fumecheng-13939	423	4	will	will	AUX
fumecheng-13939	423	5	be	be	AUX
fumecheng-13939	423	6	asymptotically	asymptotically	ADV
fumecheng-13939	423	7	stable	stable	ADJ
fumecheng-13939	423	8	on	on	ADP
fumecheng-13939	423	9	the	the	DET
fumecheng-13939	423	10	sliding	slide	VERB
fumecheng-13939	423	11	mode	mode	NOUN
fumecheng-13939	423	12	surface	surface	NOUN
fumecheng-13939	423	13	.	.	PUNCT
fumecheng-13939	424	1	1	1	NUM
fumecheng-13939	424	2	21	21	NUM
fumecheng-13939	424	3	11	11	NUM
fumecheng-13939	424	4	1	1	NUM
fumecheng-13939	424	5	11	11	NUM
fumecheng-13939	424	6	21	21	NUM
fumecheng-13939	424	7	12	12	NUM
fumecheng-13939	424	8	22	22	NUM
fumecheng-13939	424	9	1	1	NUM
fumecheng-13939	424	10	1	1	NUM
fumecheng-13939	424	11	2	2	NUM
fumecheng-13939	424	12	1	1	NUM
fumecheng-13939	424	13	1	1	NUM
fumecheng-13939	424	14	2	2	NUM
fumecheng-13939	424	15	21	21	NUM
fumecheng-13939	424	16	1	1	NUM
fumecheng-13939	424	17	22	22	NUM
fumecheng-13939	424	18	21	21	NUM
fumecheng-13939	424	19	2	2	NUM
fumecheng-13939	424	20	2	2	NUM
fumecheng-13939	424	21	2	2	NUM
fumecheng-13939	424	22	ˆ	ˆ	NOUN
fumecheng-13939	424	23	ˆ	ˆ	PROPN
fumecheng-13939	424	24	(	(	PUNCT
fumecheng-13939	424	25	)	)	PUNCT
fumecheng-13939	424	26	(	(	PUNCT
fumecheng-13939	424	27	(	(	PUNCT
fumecheng-13939	424	28	)	)	PUNCT
fumecheng-13939	424	29	)	)	PUNCT
fumecheng-13939	425	1	ˆ	ˆ	X
fumecheng-13939	425	2	ˆ	ˆ	ADV
fumecheng-13939	425	3	(	(	PUNCT
fumecheng-13939	425	4	,	,	PUNCT
fumecheng-13939	425	5	)	)	PUNCT
fumecheng-13939	425	6	(	(	PUNCT
fumecheng-13939	425	7	,	,	PUNCT
fumecheng-13939	425	8	)	)	PUNCT
fumecheng-13939	425	9	ˆ	ˆ	NOUN
fumecheng-13939	425	10	ˆ	ˆ	NOUN
fumecheng-13939	425	11	ˆ	ˆ	NOUN
fumecheng-13939	425	12	ˆ	ˆ	ADJ
fumecheng-13939	425	13	(	(	PUNCT
fumecheng-13939	425	14	)	)	PUNCT
fumecheng-13939	425	15	(	(	PUNCT
fumecheng-13939	425	16	,	,	PUNCT
fumecheng-13939	425	17	)	)	PUNCT
fumecheng-13939	425	18	ˆ	ˆ	X
fumecheng-13939	425	19	ˆ	ˆ	NOUN
fumecheng-13939	426	1	i	i	PRON
fumecheng-13939	426	2	i	i	PRON
fumecheng-13939	427	1	i	i	PRON
fumecheng-13939	427	2	i	i	PRON
fumecheng-13939	428	1	i	i	PRON
fumecheng-13939	428	2	i	i	PRON
fumecheng-13939	429	1	i	i	PRON
fumecheng-13939	429	2	i	i	PRON
fumecheng-13939	430	1	i	i	PRON
fumecheng-13939	430	2	i	i	PRON
fumecheng-13939	431	1	i	i	PRON
fumecheng-13939	431	2	i	i	PRON
fumecheng-13939	432	1	i	i	PRON
fumecheng-13939	432	2	i	i	PRON
fumecheng-13939	433	1	i	i	PRON
fumecheng-13939	433	2			VERB
fumecheng-13939	433	3			PROPN
fumecheng-13939	433	4			NOUN
fumecheng-13939	433	5			ADP
fumecheng-13939	434	1			PROPN
fumecheng-13939	434	2			PUNCT
fumecheng-13939	434	3			PROPN
fumecheng-13939	434	4			VERB
fumecheng-13939	434	5			PROPN
fumecheng-13939	434	6			PROPN
fumecheng-13939	434	7			NUM
fumecheng-13939	434	8			X
fumecheng-13939	434	9			NOUN
fumecheng-13939	434	10			NUM
fumecheng-13939	434	11			NUM
fumecheng-13939	434	12			PUNCT
fumecheng-13939	434	13			PROPN
fumecheng-13939	434	14			PUNCT
fumecheng-13939	434	15			NOUN
fumecheng-13939	434	16			NUM
fumecheng-13939	434	17			NOUN
fumecheng-13939	434	18			NOUN
fumecheng-13939	434	19			NOUN
fumecheng-13939	434	20	z	z	PROPN
fumecheng-13939	434	21	ka	ka	PROPN
fumecheng-13939	435	1	a	a	DET
fumecheng-13939	435	2	z	z	NOUN
fumecheng-13939	435	3	a	a	PROPN
fumecheng-13939	435	4	ka	ka	PROPN
fumecheng-13939	436	1	k	k	PROPN
fumecheng-13939	436	2	a	a	PROPN
fumecheng-13939	436	3	ka	ka	PROPN
fumecheng-13939	437	1	y	y	PROPN
fumecheng-13939	437	2	kg	kg	INTJ
fumecheng-13939	437	3	t	t	PROPN
fumecheng-13939	437	4	z	z	NOUN
fumecheng-13939	437	5	u	u	PROPN
fumecheng-13939	437	6	g	g	PROPN
fumecheng-13939	437	7	t	t	PROPN
fumecheng-13939	437	8	z	z	PROPN
fumecheng-13939	437	9	u	u	PROPN
fumecheng-13939	437	10	z	z	PROPN
fumecheng-13939	437	11	a	a	PROPN
fumecheng-13939	437	12	z	z	NOUN
fumecheng-13939	437	13	a	a	DET
fumecheng-13939	437	14	a	a	DET
fumecheng-13939	437	15	k	k	PROPN
fumecheng-13939	437	16	z	z	NOUN
fumecheng-13939	437	17	g	g	PROPN
fumecheng-13939	437	18	t	t	PROPN
fumecheng-13939	437	19	z	z	NOUN
fumecheng-13939	437	20	u	u	PROPN
fumecheng-13939	437	21	v	v	ADP
fumecheng-13939	437	22	y	y	PROPN
fumecheng-13939	437	23	z	z	PROPN
fumecheng-13939	437	24	(	(	PUNCT
fumecheng-13939	437	25	37	37	NUM
fumecheng-13939	437	26	)	)	PUNCT
fumecheng-13939	437	27	where	where	SCONJ
fumecheng-13939	437	28	1	1	NUM
fumecheng-13939	437	29	1	1	NUM
fumecheng-13939	437	30	1	1	NUM
fumecheng-13939	437	31	1ˆ	1ˆ	NOUN
fumecheng-13939	437	32	ˆ	ˆ	NOUN
fumecheng-13939	437	33	(	(	PUNCT
fumecheng-13939	437	34	,	,	PUNCT
fumecheng-13939	437	35	)	)	PUNCT
fumecheng-13939	437	36	(	(	PUNCT
fumecheng-13939	437	37	,	,	PUNCT
fumecheng-13939	437	38	)	)	PUNCT
fumecheng-13939	438	1	i	i	PRON
fumecheng-13939	438	2	i	i	PRON
fumecheng-13939	439	1	i	i	PRON
fumecheng-13939	439	2	i	i	PRON
fumecheng-13939	440	1	g	g	VERB
fumecheng-13939	440	2	i	i	PRON
fumecheng-13939	440	3	il	il	ADP
fumecheng-13939	440	4			PROPN
fumecheng-13939	440	5			PROPN
fumecheng-13939	440	6			NUM
fumecheng-13939	440	7			NOUN
fumecheng-13939	440	8	g	g	NOUN
fumecheng-13939	440	9	t	t	PROPN
fumecheng-13939	440	10	z	z	PROPN
fumecheng-13939	440	11	u	u	PROPN
fumecheng-13939	440	12	g	g	PROPN
fumecheng-13939	440	13	t	t	PROPN
fumecheng-13939	440	14	z	z	NOUN
fumecheng-13939	440	15	u	u	NOUN
fumecheng-13939	441	1	t	t	PROPN
fumecheng-13939	441	2	z	z	NOUN
fumecheng-13939	441	3	t	t	PROPN
fumecheng-13939	441	4	z	z	PROPN
fumecheng-13939	441	5	(	(	PUNCT
fumecheng-13939	441	6	38	38	NUM
fumecheng-13939	441	7	)	)	PUNCT
fumecheng-13939	441	8	was	be	AUX
fumecheng-13939	441	9	obtained	obtain	VERB
fumecheng-13939	441	10	by	by	ADP
fumecheng-13939	441	11	the	the	DET
fumecheng-13939	441	12	lipschitz	lipschitz	NOUN
fumecheng-13939	441	13	condition	condition	NOUN
fumecheng-13939	441	14	satisfied	satisfy	VERB
fumecheng-13939	441	15	by	by	ADP
fumecheng-13939	441	16	the	the	DET
fumecheng-13939	441	17	nonlinear	nonlinear	ADJ
fumecheng-13939	441	18	term	term	NOUN
fumecheng-13939	441	19	and	and	CCONJ
fumecheng-13939	441	20	the	the	DET
fumecheng-13939	441	21	sliding	slide	VERB
fumecheng-13939	441	22	mode	mode	NOUN
fumecheng-13939	441	23	switching	switch	VERB
fumecheng-13939	441	24	term	term	NOUN
fumecheng-13939	441	25	vi	vi	PROPN
fumecheng-13939	441	26	as	as	SCONJ
fumecheng-13939	441	27	follows	follow	VERB
fumecheng-13939	441	28	:	:	PUNCT
fumecheng-13939	441	29	1	1	NUM
fumecheng-13939	441	30	22	22	NUM
fumecheng-13939	441	31	21	21	NUM
fumecheng-13939	441	32	2	2	NUM
fumecheng-13939	441	33	1	1	NUM
fumecheng-13939	441	34	2	2	NUM
fumecheng-13939	441	35	2	2	NUM
fumecheng-13939	441	36	ˆ	ˆ	NOUN
fumecheng-13939	441	37	ˆˆ	ˆˆ	PROPN
fumecheng-13939	441	38	(	(	PUNCT
fumecheng-13939	441	39	(	(	PUNCT
fumecheng-13939	441	40	)	)	PUNCT
fumecheng-13939	441	41	)	)	PUNCT
fumecheng-13939	441	42	sign	sign	NOUN
fumecheng-13939	441	43	(	(	PUNCT
fumecheng-13939	441	44	)	)	PUNCT
fumecheng-13939	441	45	i	i	PRON
fumecheng-13939	442	1	i	i	PRON
fumecheng-13939	443	1	i	i	PRON
fumecheng-13939	444	1	i	i	PRON
fumecheng-13939	445	1	i	i	PRON
fumecheng-13939	445	2	iw	iw	X
fumecheng-13939	445	3			PUNCT
fumecheng-13939	445	4			PROPN
fumecheng-13939	445	5			PROPN
fumecheng-13939	445	6			PUNCT
fumecheng-13939	445	7			CCONJ
fumecheng-13939	445	8			PUNCT
fumecheng-13939	445	9	v	v	PROPN
fumecheng-13939	445	10	a	a	DET
fumecheng-13939	445	11	a	a	DET
fumecheng-13939	445	12	k	k	X
fumecheng-13939	445	13	y	y	PROPN
fumecheng-13939	445	14	y	y	PROPN
fumecheng-13939	445	15	d	d	PROPN
fumecheng-13939	445	16	t	t	PROPN
fumecheng-13939	445	17	z	z	PROPN
fumecheng-13939	445	18	e	e	PROPN
fumecheng-13939	445	19	y	y	PROPN
fumecheng-13939	445	20	y	y	PROPN
fumecheng-13939	445	21	(	(	PUNCT
fumecheng-13939	445	22	39	39	NUM
fumecheng-13939	445	23	)	)	PUNCT
fumecheng-13939	445	24	where	where	SCONJ
fumecheng-13939	445	25	w	w	NOUN
fumecheng-13939	445	26	is	be	AUX
fumecheng-13939	445	27	a	a	DET
fumecheng-13939	445	28	positive	positive	ADJ
fumecheng-13939	445	29	real	real	ADJ
fumecheng-13939	445	30	number	number	NOUN
fumecheng-13939	445	31	.	.	PUNCT
fumecheng-13939	446	1	proof	proof	NOUN
fumecheng-13939	446	2	.	.	PUNCT
fumecheng-13939	447	1	suppose	suppose	VERB
fumecheng-13939	447	2	1	1	NUM
fumecheng-13939	447	3	1	1	NUM
fumecheng-13939	447	4	1ˆi	1ˆi	ADJ
fumecheng-13939	447	5	i	i	NOUN
fumecheng-13939	447	6	z	z	NOUN
fumecheng-13939	447	7	ze	ze	PROPN
fumecheng-13939	447	8	,	,	PUNCT
fumecheng-13939	447	9	and	and	CCONJ
fumecheng-13939	447	10	ˆy	ˆy	INTJ
fumecheng-13939	447	11	i	i	PRON
fumecheng-13939	447	12	i	i	NOUN
fumecheng-13939	447	13	y	y	PROPN
fumecheng-13939	447	14	ye	ye	NOUN
fumecheng-13939	447	15	,	,	PUNCT
fumecheng-13939	447	16	then	then	ADV
fumecheng-13939	447	17	the	the	DET
fumecheng-13939	447	18	error	error	NOUN
fumecheng-13939	447	19	equation	equation	NOUN
fumecheng-13939	447	20	can	can	AUX
fumecheng-13939	447	21	be	be	AUX
fumecheng-13939	447	22	expressed	express	VERB
fumecheng-13939	447	23	as	as	ADP
fumecheng-13939	447	24	:	:	PUNCT
fumecheng-13939	447	25	1	1	NUM
fumecheng-13939	447	26	11	11	NUM
fumecheng-13939	447	27	21	21	NUM
fumecheng-13939	447	28	1	1	NUM
fumecheng-13939	447	29	1	1	NUM
fumecheng-13939	447	30	2	2	NUM
fumecheng-13939	447	31	21	21	NUM
fumecheng-13939	447	32	1	1	NUM
fumecheng-13939	447	33	22	22	NUM
fumecheng-13939	447	34	21	21	NUM
fumecheng-13939	447	35	2	2	NUM
fumecheng-13939	447	36	2	2	NUM
fumecheng-13939	447	37	2	2	NUM
fumecheng-13939	447	38	(	(	PUNCT
fumecheng-13939	447	39	)	)	PUNCT
fumecheng-13939	447	40	(	(	PUNCT
fumecheng-13939	447	41	)	)	PUNCT
fumecheng-13939	447	42	(	(	PUNCT
fumecheng-13939	447	43	)	)	PUNCT
fumecheng-13939	447	44	(	(	PUNCT
fumecheng-13939	447	45	)	)	PUNCT
fumecheng-13939	447	46	y	y	PROPN
fumecheng-13939	447	47	y	y	PROPN
fumecheng-13939	448	1	i	i	PRON
fumecheng-13939	448	2	i	i	PRON
fumecheng-13939	448	3	it	it	PRON
fumecheng-13939	448	4	t	t	VERB
fumecheng-13939	448	5			ADV
fumecheng-13939	448	6			PROPN
fumecheng-13939	448	7			PUNCT
fumecheng-13939	448	8			PUNCT
fumecheng-13939	448	9			VERB
fumecheng-13939	448	10			NUM
fumecheng-13939	448	11			NUM
fumecheng-13939	448	12			PUNCT
fumecheng-13939	448	13			PROPN
fumecheng-13939	448	14			ADV
fumecheng-13939	448	15			PUNCT
fumecheng-13939	448	16			X
fumecheng-13939	448	17			PROPN
fumecheng-13939	448	18			NOUN
fumecheng-13939	448	19			PUNCT
fumecheng-13939	449	1			PUNCT
fumecheng-13939	450	1	e	e	X
fumecheng-13939	450	2	a	a	PRON
fumecheng-13939	450	3	ka	ka	PROPN
fumecheng-13939	450	4	e	e	X
fumecheng-13939	450	5	g	g	PROPN
fumecheng-13939	450	6	kg	kg	X
fumecheng-13939	450	7	e	e	X
fumecheng-13939	450	8	a	a	DET
fumecheng-13939	450	9	e	e	NOUN
fumecheng-13939	450	10	a	a	PRON
fumecheng-13939	450	11	a	a	DET
fumecheng-13939	450	12	k	k	X
fumecheng-13939	450	13	e	e	X
fumecheng-13939	450	14	f	f	PROPN
fumecheng-13939	450	15	vφe	vφe	ADV
fumecheng-13939	450	16	g	g	PROPN
fumecheng-13939	450	17	d	d	PROPN
fumecheng-13939	450	18	(	(	PUNCT
fumecheng-13939	450	19	40	40	NUM
fumecheng-13939	450	20	)	)	PUNCT
fumecheng-13939	450	21	where	where	SCONJ
fumecheng-13939	450	22	1	1	NUM
fumecheng-13939	450	23	1	1	NUM
fumecheng-13939	450	24	ˆ	ˆ	PROPN
fumecheng-13939	450	25	(	(	PUNCT
fumecheng-13939	450	26	,	,	PUNCT
fumecheng-13939	450	27	)	)	PUNCT
fumecheng-13939	450	28	(	(	PUNCT
fumecheng-13939	450	29	2	2	NUM
fumecheng-13939	450	30	,	,	PUNCT
fumecheng-13939	450	31	,	,	PUNCT
fumecheng-13939	450	32	)	)	PUNCT
fumecheng-13939	450	33	1,l	1,l	NUM
fumecheng-13939	451	1	l	l	NOUN
fumecheng-13939	452	1	i	i	PRON
fumecheng-13939	452	2	i	i	VERB
fumecheng-13939	452	3	l	l	VERB
fumecheng-13939	453	1	i	i	PRON
fumecheng-13939	453	2	i	i	PRON
fumecheng-13939	453	3	l	l	VERB
fumecheng-13939	453	4			PROPN
fumecheng-13939	453	5			PROPN
fumecheng-13939	453	6	g	g	PROPN
fumecheng-13939	453	7	g	g	PROPN
fumecheng-13939	453	8	t	t	PROPN
fumecheng-13939	453	9	z	z	PROPN
fumecheng-13939	453	10	u	u	PROPN
fumecheng-13939	453	11	g	g	PROPN
fumecheng-13939	453	12	t	t	PROPN
fumecheng-13939	453	13	z	z	PROPN
fumecheng-13939	453	14	u	u	PROPN
fumecheng-13939	453	15	(	(	PUNCT
fumecheng-13939	453	16	41	41	NUM
fumecheng-13939	453	17	)	)	PUNCT
fumecheng-13939	453	18	the	the	DET
fumecheng-13939	453	19	designed	design	VERB
fumecheng-13939	453	20	sliding	slide	VERB
fumecheng-13939	453	21	surface	surface	NOUN
fumecheng-13939	453	22	is	be	AUX
fumecheng-13939	453	23	as	as	SCONJ
fumecheng-13939	453	24	follows	follow	VERB
fumecheng-13939	453	25	:	:	PUNCT
fumecheng-13939	453	26			X
fumecheng-13939	453	27	1	1	X
fumecheng-13939	453	28	(	(	PUNCT
fumecheng-13939	453	29	,	,	PUNCT
fumecheng-13939	453	30	)	)	PUNCT
fumecheng-13939	454	1	|	|	ADV
fumecheng-13939	454	2	0y	0y	NUM
fumecheng-13939	454	3	y	y	NOUN
fumecheng-13939	454	4	s	s	ADP
fumecheng-13939	454	5	e	e	NOUN
fumecheng-13939	454	6	e	e	X
fumecheng-13939	454	7	e	e	X
fumecheng-13939	454	8	(	(	PUNCT
fumecheng-13939	454	9	42	42	NUM
fumecheng-13939	454	10	)	)	PUNCT
fumecheng-13939	454	11	consider	consider	VERB
fumecheng-13939	454	12	the	the	DET
fumecheng-13939	454	13	following	follow	VERB
fumecheng-13939	454	14	lyapunov	lyapunov	NOUN
fumecheng-13939	454	15	function	function	NOUN
fumecheng-13939	454	16	:	:	PUNCT
fumecheng-13939	454	17	1	1	NUM
fumecheng-13939	454	18	1	1	NUM
fumecheng-13939	454	19	1	1	NUM
fumecheng-13939	454	20	1v	1v	NUM
fumecheng-13939	454	21	t	t	PROPN
fumecheng-13939	454	22	e	e	PROPN
fumecheng-13939	454	23	p	p	PROPN
fumecheng-13939	454	24	e	e	X
fumecheng-13939	454	25	(	(	PUNCT
fumecheng-13939	454	26	43	43	NUM
fumecheng-13939	454	27	)	)	PUNCT
fumecheng-13939	454	28	the	the	DET
fumecheng-13939	454	29	derivative	derivative	NOUN
fumecheng-13939	454	30	of	of	ADP
fumecheng-13939	454	31	eq	eq	PROPN
fumecheng-13939	454	32	.	.	PUNCT
fumecheng-13939	455	1	(	(	PUNCT
fumecheng-13939	455	2	43	43	NUM
fumecheng-13939	455	3	)	)	PUNCT
fumecheng-13939	455	4	can	can	AUX
fumecheng-13939	455	5	be	be	AUX
fumecheng-13939	455	6	obtained	obtain	VERB
fumecheng-13939	455	7	:	:	PUNCT
fumecheng-13939	455	8	1	1	NUM
fumecheng-13939	455	9	1	1	NUM
fumecheng-13939	455	10	1	1	NUM
fumecheng-13939	455	11	11	11	NUM
fumecheng-13939	455	12	21	21	NUM
fumecheng-13939	455	13	11	11	NUM
fumecheng-13939	455	14	21	21	NUM
fumecheng-13939	455	15	1	1	NUM
fumecheng-13939	455	16	1	1	NUM
fumecheng-13939	455	17	1	1	NUM
fumecheng-13939	455	18	1	1	NUM
fumecheng-13939	455	19	1	1	NUM
fumecheng-13939	455	20	2v	2v	NUM
fumecheng-13939	455	21	[	[	PUNCT
fumecheng-13939	455	22	(	(	PUNCT
fumecheng-13939	455	23	)	)	PUNCT
fumecheng-13939	455	24	(	(	PUNCT
fumecheng-13939	455	25	)	)	PUNCT
fumecheng-13939	455	26	]	]	PUNCT
fumecheng-13939	455	27	2	2	X
fumecheng-13939	455	28	[	[	PUNCT
fumecheng-13939	455	29	]	]	X
fumecheng-13939	455	30	[	[	PUNCT
fumecheng-13939	455	31	]	]	X
fumecheng-13939	455	32	t	t	X
fumecheng-13939	455	33	t	t	PROPN
fumecheng-13939	455	34	t	t	PROPN
fumecheng-13939	455	35	t	t	PROPN
fumecheng-13939	455	36	n	n	PROPN
fumecheng-13939	455	37	p	p	NOUN
fumecheng-13939	455	38			PUNCT
fumecheng-13939	455	39			PUNCT
fumecheng-13939	455	40			VERB
fumecheng-13939	455	41	e	e	VERB
fumecheng-13939	455	42	p	p	PROPN
fumecheng-13939	455	43	a	a	DET
fumecheng-13939	455	44	ka	ka	PROPN
fumecheng-13939	455	45	a	a	DET
fumecheng-13939	455	46	ka	ka	PROPN
fumecheng-13939	456	1	p	p	X
fumecheng-13939	456	2	e	e	PROPN
fumecheng-13939	456	3	e	e	X
fumecheng-13939	456	4	p	p	X
fumecheng-13939	457	1	i	i	PRON
fumecheng-13939	457	2	k	k	PROPN
fumecheng-13939	457	3	g	g	PROPN
fumecheng-13939	457	4	g	g	PROPN
fumecheng-13939	457	5			NUM
fumecheng-13939	457	6	(	(	PUNCT
fumecheng-13939	457	7	44	44	NUM
fumecheng-13939	457	8	)	)	PUNCT
fumecheng-13939	457	9	eq	eq	NOUN
fumecheng-13939	457	10	.	.	PUNCT
fumecheng-13939	458	1	(	(	PUNCT
fumecheng-13939	458	2	33	33	NUM
fumecheng-13939	458	3	)	)	PUNCT
fumecheng-13939	458	4	is	be	AUX
fumecheng-13939	458	5	decomposed	decompose	VERB
fumecheng-13939	458	6	in	in	ADP
fumecheng-13939	458	7	the	the	DET
fumecheng-13939	458	8	form	form	NOUN
fumecheng-13939	458	9	of	of	ADP
fumecheng-13939	458	10	eq	eq	PROPN
fumecheng-13939	458	11	.	.	PUNCT
fumecheng-13939	459	1	(	(	PUNCT
fumecheng-13939	459	2	35	35	NUM
fumecheng-13939	459	3	)	)	PUNCT
fumecheng-13939	459	4	,	,	PUNCT
fumecheng-13939	459	5	which	which	PRON
fumecheng-13939	459	6	can	can	AUX
fumecheng-13939	459	7	be	be	AUX
fumecheng-13939	459	8	expressed	express	VERB
fumecheng-13939	459	9	as	as	ADP
fumecheng-13939	459	10	:	:	SYM
fumecheng-13939	459	11	1	1	NUM
fumecheng-13939	459	12	11	11	NUM
fumecheng-13939	459	13	21	21	NUM
fumecheng-13939	459	14	11	11	NUM
fumecheng-13939	459	15	21	21	NUM
fumecheng-13939	459	16	1	1	NUM
fumecheng-13939	459	17	1	1	NUM
fumecheng-13939	459	18	(	(	PUNCT
fumecheng-13939	459	19	)	)	PUNCT
fumecheng-13939	459	20	(	(	PUNCT
fumecheng-13939	459	21	)	)	PUNCT
fumecheng-13939	459	22	t	t	PROPN
fumecheng-13939	459	23			ADV
fumecheng-13939	459	24			PUNCT
fumecheng-13939	459	25			PROPN
fumecheng-13939	459	26	p	p	VERB
fumecheng-13939	459	27	a	a	DET
fumecheng-13939	459	28	ka	ka	PROPN
fumecheng-13939	459	29	a	a	DET
fumecheng-13939	459	30	ka	ka	PROPN
fumecheng-13939	460	1	p	p	X
fumecheng-13939	460	2	q	q	PROPN
fumecheng-13939	460	3	(	(	PUNCT
fumecheng-13939	460	4	45	45	NUM
fumecheng-13939	460	5	)	)	PUNCT
fumecheng-13939	460	6	fault	fault	NOUN
fumecheng-13939	460	7	-	-	PUNCT
fumecheng-13939	460	8	tolerant	tolerant	ADJ
fumecheng-13939	460	9	control	control	NOUN
fumecheng-13939	460	10	of	of	ADP
fumecheng-13939	460	11	low	low	ADJ
fumecheng-13939	460	12	-	-	PUNCT
fumecheng-13939	460	13	altitude	altitude	NOUN
fumecheng-13939	460	14	unmanned	unmanned	ADJ
fumecheng-13939	460	15	aerial	aerial	ADJ
fumecheng-13939	460	16	vehicle	vehicle	NOUN
fumecheng-13939	460	17	swarms	swarm	NOUN
fumecheng-13939	460	18	using	use	VERB
fumecheng-13939	460	19	...	...	PUNCT
fumecheng-13939	460	20	13	13	NUM
fumecheng-13939	460	21	combining	combine	VERB
fumecheng-13939	460	22	eq	eq	NOUN
fumecheng-13939	460	23	.	.	PUNCT
fumecheng-13939	461	1	(	(	PUNCT
fumecheng-13939	461	2	43	43	NUM
fumecheng-13939	461	3	)	)	PUNCT
fumecheng-13939	461	4	and	and	CCONJ
fumecheng-13939	461	5	eq	eq	NOUN
fumecheng-13939	461	6	.	.	PUNCT
fumecheng-13939	462	1	(	(	PUNCT
fumecheng-13939	462	2	44	44	NUM
fumecheng-13939	462	3	)	)	PUNCT
fumecheng-13939	462	4	leads	lead	VERB
fumecheng-13939	462	5	to	to	ADP
fumecheng-13939	462	6	:	:	PUNCT
fumecheng-13939	462	7			ADJ
fumecheng-13939	462	8			NOUN
fumecheng-13939	462	9			PROPN
fumecheng-13939	462	10			PROPN
fumecheng-13939	462	11			PROPN
fumecheng-13939	462	12			PUNCT
fumecheng-13939	462	13			PROPN
fumecheng-13939	462	14			VERB
fumecheng-13939	462	15			PROPN
fumecheng-13939	462	16	1	1	NUM
fumecheng-13939	462	17	21	21	NUM
fumecheng-13939	462	18	1	1	NUM
fumecheng-13939	462	19	1	1	NUM
fumecheng-13939	462	20	1	1	NUM
fumecheng-13939	462	21	1	1	NUM
fumecheng-13939	462	22	1	1	NUM
fumecheng-13939	462	23	2	2	NUM
fumecheng-13939	462	24	1	1	NUM
fumecheng-13939	462	25	1	1	NUM
fumecheng-13939	462	26	1	1	NUM
fumecheng-13939	462	27	1	1	NUM
fumecheng-13939	462	28	1	1	NUM
fumecheng-13939	462	29	1	1	NUM
fumecheng-13939	462	30	2	2	NUM
fumecheng-13939	462	31	2	2	NUM
fumecheng-13939	462	32	1	1	NUM
fumecheng-13939	462	33	min	min	NOUN
fumecheng-13939	462	34	1	1	NUM
fumecheng-13939	462	35	1	1	NUM
fumecheng-13939	462	36	2	2	NUM
fumecheng-13939	462	37	v	v	NUM
fumecheng-13939	462	38	2	2	NUM
fumecheng-13939	462	39	2	2	NUM
fumecheng-13939	462	40	(	(	PUNCT
fumecheng-13939	462	41	)	)	PUNCT
fumecheng-13939	462	42	(	(	PUNCT
fumecheng-13939	462	43	)	)	PUNCT
fumecheng-13939	462	44	2	2	NUM
fumecheng-13939	462	45	0	0	NUM
fumecheng-13939	462	46	t	t	NOUN
fumecheng-13939	462	47	t	t	PROPN
fumecheng-13939	462	48	t	t	PROPN
fumecheng-13939	462	49	t	t	PROPN
fumecheng-13939	462	50	t	t	PROPN
fumecheng-13939	462	51	g	g	PROPN
fumecheng-13939	462	52	g	g	PROPN
fumecheng-13939	462	53	l	l	NOUN
fumecheng-13939	462	54	l	l	AUX
fumecheng-13939	462	55			VERB
fumecheng-13939	463	1			PROPN
fumecheng-13939	463	2			PROPN
fumecheng-13939	463	3			PROPN
fumecheng-13939	463	4			VERB
fumecheng-13939	463	5			VERB
fumecheng-13939	463	6			PROPN
fumecheng-13939	463	7			PROPN
fumecheng-13939	463	8			PROPN
fumecheng-13939	463	9			PUNCT
fumecheng-13939	463	10			NOUN
fumecheng-13939	463	11			NOUN
fumecheng-13939	463	12			PROPN
fumecheng-13939	463	13			NOUN
fumecheng-13939	463	14			NOUN
fumecheng-13939	463	15	e	e	NOUN
fumecheng-13939	463	16	q	q	NOUN
fumecheng-13939	463	17	e	e	X
fumecheng-13939	463	18	e	e	NOUN
fumecheng-13939	463	19	p	p	NOUN
fumecheng-13939	463	20	p	p	X
fumecheng-13939	463	21	g	g	NOUN
fumecheng-13939	463	22	g	g	PROPN
fumecheng-13939	463	23	e	e	NOUN
fumecheng-13939	463	24	q	q	X
fumecheng-13939	463	25	e	e	X
fumecheng-13939	463	26	e	e	NOUN
fumecheng-13939	463	27	p	p	PROPN
fumecheng-13939	463	28	p	p	PROPN
fumecheng-13939	463	29	t	t	PROPN
fumecheng-13939	463	30	z	z	NOUN
fumecheng-13939	463	31	z	z	NOUN
fumecheng-13939	464	1	e	e	NOUN
fumecheng-13939	464	2	q	q	NOUN
fumecheng-13939	464	3	p	p	X
fumecheng-13939	464	4	p	p	NOUN
fumecheng-13939	464	5			NOUN
fumecheng-13939	464	6			NUM
fumecheng-13939	464	7	(	(	PUNCT
fumecheng-13939	464	8	46	46	NUM
fumecheng-13939	464	9	)	)	PUNCT
fumecheng-13939	464	10	thus	thus	ADV
fumecheng-13939	464	11	,	,	PUNCT
fumecheng-13939	464	12	the	the	DET
fumecheng-13939	464	13	system	system	NOUN
fumecheng-13939	464	14	can	can	AUX
fumecheng-13939	464	15	be	be	AUX
fumecheng-13939	464	16	stabilized	stabilize	VERB
fumecheng-13939	464	17	on	on	ADP
fumecheng-13939	464	18	the	the	DET
fumecheng-13939	464	19	sliding	slide	VERB
fumecheng-13939	464	20	surface	surface	NOUN
fumecheng-13939	464	21	.	.	PUNCT
fumecheng-13939	465	1	via	via	ADP
fumecheng-13939	465	2	the	the	DET
fumecheng-13939	465	3	designed	design	VERB
fumecheng-13939	465	4	observer	observer	NOUN
fumecheng-13939	465	5	,	,	PUNCT
fumecheng-13939	465	6	the	the	DET
fumecheng-13939	465	7	fault	fault	NOUN
fumecheng-13939	465	8	was	be	AUX
fumecheng-13939	465	9	estimated	estimate	VERB
fumecheng-13939	465	10	.	.	PUNCT
fumecheng-13939	466	1	when	when	SCONJ
fumecheng-13939	466	2	the	the	DET
fumecheng-13939	466	3	system	system	NOUN
fumecheng-13939	466	4	reaches	reach	VERB
fumecheng-13939	466	5	the	the	DET
fumecheng-13939	466	6	sliding	slide	VERB
fumecheng-13939	466	7	mode	mode	NOUN
fumecheng-13939	466	8	surface	surface	NOUN
fumecheng-13939	466	9	for	for	ADP
fumecheng-13939	466	10	sliding	slide	VERB
fumecheng-13939	466	11	mode	mode	NOUN
fumecheng-13939	466	12	motion	motion	NOUN
fumecheng-13939	466	13	,	,	PUNCT
fumecheng-13939	466	14	0	0	NUM
fumecheng-13939	466	15	,	,	PUNCT
fumecheng-13939	466	16	0y	0y	NUM
fumecheng-13939	466	17	y	y	NOUN
fumecheng-13939	466	18	e	e	NUM
fumecheng-13939	466	19	e	e	NOUN
fumecheng-13939	466	20	(	(	PUNCT
fumecheng-13939	466	21	47	47	NUM
fumecheng-13939	466	22	)	)	PUNCT
fumecheng-13939	466	23	then	then	ADV
fumecheng-13939	466	24	eq	eq	ADP
fumecheng-13939	466	25	.	.	PUNCT
fumecheng-13939	467	1	(	(	PUNCT
fumecheng-13939	467	2	40	40	NUM
fumecheng-13939	467	3	)	)	PUNCT
fumecheng-13939	467	4	can	can	AUX
fumecheng-13939	467	5	be	be	AUX
fumecheng-13939	467	6	changed	change	VERB
fumecheng-13939	467	7	to	to	ADP
fumecheng-13939	467	8	:	:	PUNCT
fumecheng-13939	467	9	21	21	NUM
fumecheng-13939	467	10	1	1	NUM
fumecheng-13939	467	11	2	2	NUM
fumecheng-13939	467	12	2	2	NUM
fumecheng-13939	467	13	20	20	NUM
fumecheng-13939	467	14	(	(	PUNCT
fumecheng-13939	467	15	)	)	PUNCT
fumecheng-13939	467	16	(	(	PUNCT
fumecheng-13939	467	17	)	)	PUNCT
fumecheng-13939	468	1	i	i	PRON
fumecheng-13939	468	2	i	i	PRON
fumecheng-13939	468	3	eqt	eqt	PROPN
fumecheng-13939	468	4	t	t	PROPN
fumecheng-13939	468	5			VERB
fumecheng-13939	468	6			ADV
fumecheng-13939	468	7			PUNCT
fumecheng-13939	468	8	a	a	ADV
fumecheng-13939	468	9	e	e	X
fumecheng-13939	468	10	g	g	PROPN
fumecheng-13939	468	11	d	d	X
fumecheng-13939	468	12	e	e	X
fumecheng-13939	468	13	f	f	PROPN
fumecheng-13939	468	14	vφ	vφ	PROPN
fumecheng-13939	468	15	(	(	PUNCT
fumecheng-13939	468	16	48	48	NUM
fumecheng-13939	468	17	)	)	PUNCT
fumecheng-13939	468	18	because	because	SCONJ
fumecheng-13939	468	19	of	of	ADP
fumecheng-13939	468	20	10	10	NUM
fumecheng-13939	468	21	lim	lim	NOUN
fumecheng-13939	468	22	0	0	PUNCT
fumecheng-13939	469	1	t	t	X
fumecheng-13939	470	1	e	e	X
fumecheng-13939	470	2	it	it	PRON
fumecheng-13939	470	3	can	can	AUX
fumecheng-13939	470	4	be	be	AUX
fumecheng-13939	470	5	derived	derive	VERB
fumecheng-13939	470	6	as	as	SCONJ
fumecheng-13939	470	7	follows	follow	VERB
fumecheng-13939	470	8	:	:	PUNCT
fumecheng-13939	470	9			ADJ
fumecheng-13939	470	10	2	2	NOUN
fumecheng-13939	470	11	2	2	NUM
fumecheng-13939	470	12	(	(	PUNCT
fumecheng-13939	470	13	)	)	PUNCT
fumecheng-13939	470	14	(	(	PUNCT
fumecheng-13939	470	15	)	)	PUNCT
fumecheng-13939	471	1	i	i	PRON
fumecheng-13939	471	2	eq	eq	VERB
fumecheng-13939	472	1	i	i	PRON
fumecheng-13939	472	2	t	t	PROPN
fumecheng-13939	472	3	t	t	PROPN
fumecheng-13939	472	4			PROPN
fumecheng-13939	472	5			NOUN
fumecheng-13939	472	6			PROPN
fumecheng-13939	472	7			NOUN
fumecheng-13939	472	8			NOUN
fumecheng-13939	472	9			NOUN
fumecheng-13939	472	10	f	f	NOUN
fumecheng-13939	472	11	φ	φ	PROPN
fumecheng-13939	472	12	v	v	PROPN
fumecheng-13939	472	13	d	d	X
fumecheng-13939	472	14	e	e	X
fumecheng-13939	472	15	(	(	PUNCT
fumecheng-13939	472	16	49	49	NUM
fumecheng-13939	472	17	)	)	PUNCT
fumecheng-13939	472	18	suppose	suppose	VERB
fumecheng-13939	472	19	there	there	PRON
fumecheng-13939	472	20	exists	exist	VERB
fumecheng-13939	472	21			ADJ
fumecheng-13939	472	22	1	1	NOUN
fumecheng-13939	472	23	2	2	NUM
fumecheng-13939	472	24	t	t	NOUN
fumecheng-13939	472	25	p	p	NOUN
fumecheng-13939	472	26	p	p	X
fumecheng-13939	472	27	d	d	NOUN
fumecheng-13939	472	28	r	r	NOUN
fumecheng-13939	472	29			NOUN
fumecheng-13939	473	1	m	m	INTJ
fumecheng-13939	473	2	m	m	AUX
fumecheng-13939	473	3	m	m	AUX
fumecheng-13939	473	4	satisfying	satisfy	VERB
fumecheng-13939	473	5	the	the	DET
fumecheng-13939	473	6	following	follow	VERB
fumecheng-13939	473	7	:	:	PUNCT
fumecheng-13939	473	8			ADJ
fumecheng-13939	473	9			NOUN
fumecheng-13939	473	10	1	1	NUM
fumecheng-13939	473	11	21	21	NUM
fumecheng-13939	473	12	2	2	NUM
fumecheng-13939	473	13	2	2	NUM
fumecheng-13939	473	14	32	32	NUM
fumecheng-13939	473	15			PROPN
fumecheng-13939	473	16			PROPN
fumecheng-13939	473	17			X
fumecheng-13939	473	18			PROPN
fumecheng-13939	473	19			NOUN
fumecheng-13939	473	20			NOUN
fumecheng-13939	473	21			NOUN
fumecheng-13939	473	22			AUX
fumecheng-13939	473	23			PROPN
fumecheng-13939	473	24			VERB
fumecheng-13939	473	25	0	0	PROPN
fumecheng-13939	473	26	h	h	NOUN
fumecheng-13939	474	1	hm	hm	INTJ
fumecheng-13939	474	2	d	d	X
fumecheng-13939	475	1	e	e	X
fumecheng-13939	475	2	hm	hm	INTJ
fumecheng-13939	475	3	(	(	PUNCT
fumecheng-13939	475	4	50	50	NUM
fumecheng-13939	475	5	)	)	PUNCT
fumecheng-13939	475	6	further	far	ADV
fumecheng-13939	475	7	,	,	PUNCT
fumecheng-13939	475	8	combining	combine	VERB
fumecheng-13939	475	9	eq	eq	ADP
fumecheng-13939	475	10	.	.	PUNCT
fumecheng-13939	476	1	(	(	PUNCT
fumecheng-13939	476	2	49	49	NUM
fumecheng-13939	476	3	)	)	PUNCT
fumecheng-13939	476	4	and	and	CCONJ
fumecheng-13939	476	5	eq	eq	NOUN
fumecheng-13939	476	6	.	.	PUNCT
fumecheng-13939	477	1	(	(	PUNCT
fumecheng-13939	477	2	50	50	NUM
fumecheng-13939	477	3	)	)	PUNCT
fumecheng-13939	477	4	can	can	AUX
fumecheng-13939	477	5	yield	yield	VERB
fumecheng-13939	477	6	the	the	DET
fumecheng-13939	477	7	following	following	NOUN
fumecheng-13939	477	8	:	:	PUNCT
fumecheng-13939	477	9	1	1	NUM
fumecheng-13939	477	10	2	2	NUM
fumecheng-13939	477	11	3	3	NUM
fumecheng-13939	477	12	(	(	PUNCT
fumecheng-13939	477	13	)	)	PUNCT
fumecheng-13939	477	14	(	(	PUNCT
fumecheng-13939	477	15	)	)	PUNCT
fumecheng-13939	478	1	i	i	PRON
fumecheng-13939	478	2	eq	eq	VERB
fumecheng-13939	479	1	i	i	PRON
fumecheng-13939	479	2	t	t	PROPN
fumecheng-13939	479	3	t	t	PROPN
fumecheng-13939	479	4			PROPN
fumecheng-13939	479	5			INTJ
fumecheng-13939	479	6			PROPN
fumecheng-13939	479	7			NOUN
fumecheng-13939	479	8			PROPN
fumecheng-13939	479	9			NOUN
fumecheng-13939	479	10			NOUN
fumecheng-13939	479	11			NOUN
fumecheng-13939	479	12			NOUN
fumecheng-13939	479	13			NOUN
fumecheng-13939	479	14			PROPN
fumecheng-13939	479	15			VERB
fumecheng-13939	479	16			PROPN
fumecheng-13939	479	17	h	h	NOUN
fumecheng-13939	480	1	h	h	NOUN
fumecheng-13939	480	2	m	m	VERB
fumecheng-13939	480	3	φ	φ	NUM
fumecheng-13939	480	4	v	v	NUM
fumecheng-13939	480	5	h	h	NOUN
fumecheng-13939	480	6	f0	f0	PROPN
fumecheng-13939	480	7	(	(	PUNCT
fumecheng-13939	480	8	51	51	NUM
fumecheng-13939	480	9	)	)	PUNCT
fumecheng-13939	480	10	thus	thus	ADV
fumecheng-13939	480	11	,	,	PUNCT
fumecheng-13939	480	12	the	the	DET
fumecheng-13939	480	13	fault	fault	NOUN
fumecheng-13939	480	14	and	and	CCONJ
fumecheng-13939	480	15	disturbance	disturbance	NOUN
fumecheng-13939	480	16	can	can	AUX
fumecheng-13939	480	17	be	be	AUX
fumecheng-13939	480	18	estimated	estimate	VERB
fumecheng-13939	480	19	as	as	ADP
fumecheng-13939	480	20	:	:	SYM
fumecheng-13939	480	21	1	1	NUM
fumecheng-13939	480	22	3	3	NUM
fumecheng-13939	480	23	2	2	NUM
fumecheng-13939	480	24	ˆ	ˆ	NOUN
fumecheng-13939	480	25	(	(	PUNCT
fumecheng-13939	480	26	)	)	PUNCT
fumecheng-13939	480	27	i	i	PRON
fumecheng-13939	480	28	eqt	eqt	PROPN
fumecheng-13939	480	29	f	f	PROPN
fumecheng-13939	481	1	h	h	PROPN
fumecheng-13939	481	2	m	m	PROPN
fumecheng-13939	481	3	v	v	NOUN
fumecheng-13939	481	4	(	(	PUNCT
fumecheng-13939	481	5	52	52	NUM
fumecheng-13939	481	6	)	)	SYM
fumecheng-13939	481	7	1	1	NUM
fumecheng-13939	481	8	1	1	NUM
fumecheng-13939	481	9	1	1	NUM
fumecheng-13939	481	10	1	1	NUM
fumecheng-13939	481	11	2	2	NUM
fumecheng-13939	481	12	3	3	NUM
fumecheng-13939	481	13	2	2	NUM
fumecheng-13939	481	14	ˆ	ˆ	NOUN
fumecheng-13939	481	15	(	(	PUNCT
fumecheng-13939	481	16	)	)	PUNCT
fumecheng-13939	481	17	(	(	PUNCT
fumecheng-13939	481	18	)	)	PUNCT
fumecheng-13939	481	19	i	i	PRON
fumecheng-13939	481	20	eqt	eqt	PROPN
fumecheng-13939	481	21			PROPN
fumecheng-13939	481	22			PROPN
fumecheng-13939	481	23	h	h	NOUN
fumecheng-13939	481	24	mφ	mφ	INTJ
fumecheng-13939	481	25	m	m	PROPN
fumecheng-13939	481	26	h	h	NOUN
fumecheng-13939	482	1	h	h	NOUN
fumecheng-13939	482	2	v	v	NOUN
fumecheng-13939	482	3	(	(	PUNCT
fumecheng-13939	482	4	53	53	NUM
fumecheng-13939	482	5	)	)	PUNCT
fumecheng-13939	482	6	where	where	SCONJ
fumecheng-13939	482	7	1	1	NUM
fumecheng-13939	482	8	22	22	NUM
fumecheng-13939	482	9	21	21	NUM
fumecheng-13939	482	10	2	2	NUM
fumecheng-13939	482	11	2	2	NUM
fumecheng-13939	482	12	1	1	NUM
fumecheng-13939	482	13	2	2	NUM
fumecheng-13939	482	14	ˆ	ˆ	NOUN
fumecheng-13939	482	15	ˆ	ˆ	NOUN
fumecheng-13939	482	16	ˆ	ˆ	ADJ
fumecheng-13939	482	17	(	(	PUNCT
fumecheng-13939	482	18	(	(	PUNCT
fumecheng-13939	482	19	)	)	PUNCT
fumecheng-13939	482	20	)	)	PUNCT
fumecheng-13939	482	21	ˆ	ˆ	X
fumecheng-13939	483	1	i	i	PRON
fumecheng-13939	483	2	i	i	PRON
fumecheng-13939	483	3	eq	eq	VERB
fumecheng-13939	484	1	i	i	PRON
fumecheng-13939	485	1	i	i	PRON
fumecheng-13939	485	2	i	i	PRON
fumecheng-13939	486	1	i	i	PRON
fumecheng-13939	486	2	w	w	VERB
fumecheng-13939	486	3			NUM
fumecheng-13939	486	4			NUM
fumecheng-13939	486	5			NUM
fumecheng-13939	486	6			PROPN
fumecheng-13939	486	7			PROPN
fumecheng-13939	486	8			PUNCT
fumecheng-13939	486	9			CCONJ
fumecheng-13939	486	10			PUNCT
fumecheng-13939	486	11			VERB
fumecheng-13939	486	12			PROPN
fumecheng-13939	486	13	y	y	PROPN
fumecheng-13939	486	14	y	y	PROPN
fumecheng-13939	486	15	v	v	INTJ
fumecheng-13939	486	16	y	y	PROPN
fumecheng-13939	486	17	y	y	PROPN
fumecheng-13939	486	18	a	a	DET
fumecheng-13939	486	19	a	a	DET
fumecheng-13939	486	20	k	k	X
fumecheng-13939	486	21	e	e	PROPN
fumecheng-13939	486	22	t	t	NOUN
fumecheng-13939	486	23	z	z	PROPN
fumecheng-13939	486	24	d	d	X
fumecheng-13939	486	25	y	y	PROPN
fumecheng-13939	486	26	y	y	PROPN
fumecheng-13939	486	27	(	(	PUNCT
fumecheng-13939	486	28	54	54	NUM
fumecheng-13939	486	29	)	)	PUNCT
fumecheng-13939	486	30	14	14	NUM
fumecheng-13939	486	31	l.	l.	PROPN
fumecheng-13939	486	32	xu	xu	PROPN
fumecheng-13939	486	33	where	where	SCONJ
fumecheng-13939	486	34			PUNCT
fumecheng-13939	486	35	is	be	AUX
fumecheng-13939	486	36	a	a	DET
fumecheng-13939	486	37	very	very	ADV
fumecheng-13939	486	38	small	small	ADJ
fumecheng-13939	486	39	real	real	ADJ
fumecheng-13939	486	40	number	number	NOUN
fumecheng-13939	486	41	.	.	PUNCT
fumecheng-13939	487	1	a	a	DET
fumecheng-13939	487	2	compensation	compensation	NOUN
fumecheng-13939	487	3	control	control	NOUN
fumecheng-13939	487	4	scheme	scheme	NOUN
fumecheng-13939	487	5	is	be	AUX
fumecheng-13939	487	6	presented	present	VERB
fumecheng-13939	487	7	.	.	PUNCT
fumecheng-13939	488	1	from	from	ADP
fumecheng-13939	488	2	the	the	DET
fumecheng-13939	488	3	previous	previous	ADJ
fumecheng-13939	488	4	analysis	analysis	NOUN
fumecheng-13939	488	5	,	,	PUNCT
fumecheng-13939	488	6	it	it	PRON
fumecheng-13939	488	7	is	be	AUX
fumecheng-13939	488	8	known	know	VERB
fumecheng-13939	488	9	that	that	SCONJ
fumecheng-13939	488	10	the	the	DET
fumecheng-13939	488	11	estimation	estimation	NOUN
fumecheng-13939	488	12	errors	error	NOUN
fumecheng-13939	488	13	of	of	ADP
fumecheng-13939	488	14	faults	fault	NOUN
fumecheng-13939	488	15	and	and	CCONJ
fumecheng-13939	488	16	disturbances	disturbance	NOUN
fumecheng-13939	488	17	are	be	AUX
fumecheng-13939	488	18	bounded	bound	VERB
fumecheng-13939	488	19	and	and	CCONJ
fumecheng-13939	488	20	stable	stable	ADJ
fumecheng-13939	488	21	.	.	PUNCT
fumecheng-13939	489	1	therefore	therefore	ADV
fumecheng-13939	489	2	,	,	PUNCT
fumecheng-13939	489	3	a	a	DET
fumecheng-13939	489	4	compensation	compensation	NOUN
fumecheng-13939	489	5	control	control	NOUN
fumecheng-13939	489	6	term	term	NOUN
fumecheng-13939	489	7	was	be	AUX
fumecheng-13939	489	8	added	add	VERB
fumecheng-13939	489	9	to	to	ADP
fumecheng-13939	489	10	the	the	DET
fumecheng-13939	489	11	controller	controller	NOUN
fumecheng-13939	489	12	in	in	ADP
fumecheng-13939	489	13	the	the	DET
fumecheng-13939	489	14	absence	absence	NOUN
fumecheng-13939	489	15	of	of	ADP
fumecheng-13939	489	16	faults	fault	NOUN
fumecheng-13939	489	17	to	to	PART
fumecheng-13939	489	18	offset	offset	VERB
fumecheng-13939	489	19	the	the	DET
fumecheng-13939	489	20	adverse	adverse	ADJ
fumecheng-13939	489	21	impact	impact	NOUN
fumecheng-13939	489	22	of	of	ADP
fumecheng-13939	489	23	actuator	actuator	NOUN
fumecheng-13939	489	24	faults	fault	NOUN
fumecheng-13939	489	25	on	on	ADP
fumecheng-13939	489	26	the	the	DET
fumecheng-13939	489	27	uavs	uavs	NOUN
fumecheng-13939	489	28	.	.	PUNCT
fumecheng-13939	490	1	the	the	DET
fumecheng-13939	490	2	fault	fault	NOUN
fumecheng-13939	490	3	-	-	PUNCT
fumecheng-13939	490	4	tolerant	tolerant	ADJ
fumecheng-13939	490	5	control	control	NOUN
fumecheng-13939	490	6	method	method	NOUN
fumecheng-13939	490	7	can	can	AUX
fumecheng-13939	490	8	be	be	AUX
fumecheng-13939	490	9	rewritten	rewrite	VERB
fumecheng-13939	490	10	as	as	SCONJ
fumecheng-13939	490	11	follows	follow	VERB
fumecheng-13939	490	12	:	:	PUNCT
fumecheng-13939	490	13	*	*	PUNCT
fumecheng-13939	491	1	i	i	PRON
fumecheng-13939	491	2	i	i	PRON
fumecheng-13939	491	3	fi	fi	VERB
fumecheng-13939	491	4	u	u	PROPN
fumecheng-13939	491	5	u	u	PROPN
fumecheng-13939	491	6	u	u	NOUN
fumecheng-13939	491	7	(	(	PUNCT
fumecheng-13939	491	8	55	55	NUM
fumecheng-13939	491	9	)	)	PUNCT
fumecheng-13939	491	10	where	where	SCONJ
fumecheng-13939	491	11	(	(	PUNCT
fumecheng-13939	491	12	1	1	X
fumecheng-13939	491	13	)	)	PUNCT
fumecheng-13939	491	14	ˆˆ	ˆˆ	PROPN
fumecheng-13939	491	15	(	(	PUNCT
fumecheng-13939	491	16	)	)	PUNCT
fumecheng-13939	491	17	(	(	PUNCT
fumecheng-13939	491	18	(	(	PUNCT
fumecheng-13939	491	19	)	)	PUNCT
fumecheng-13939	491	20	(	(	PUNCT
fumecheng-13939	491	21	)	)	PUNCT
fumecheng-13939	491	22	)	)	PUNCT
fumecheng-13939	492	1	t	t	PROPN
fumecheng-13939	492	2	t	t	X
fumecheng-13939	492	3	f	f	PROPN
fumecheng-13939	493	1	i	i	PRON
fumecheng-13939	493	2	i	i	PRON
fumecheng-13939	493	3	it	it	PRON
fumecheng-13939	493	4	t	t	VERB
fumecheng-13939	493	5			NOUN
fumecheng-13939	493	6	u	u	ADP
fumecheng-13939	493	7	b	b	X
fumecheng-13939	494	1	bb	bb	INTJ
fumecheng-13939	494	2	dφ	dφ	ADP
fumecheng-13939	494	3	ef	ef	PROPN
fumecheng-13939	494	4	(	(	PUNCT
fumecheng-13939	494	5	56	56	NUM
fumecheng-13939	494	6	)	)	PUNCT
fumecheng-13939	494	7	4	4	NUM
fumecheng-13939	494	8	.	.	PUNCT
fumecheng-13939	494	9	experimental	experimental	ADJ
fumecheng-13939	494	10	results	result	NOUN
fumecheng-13939	494	11	due	due	ADP
fumecheng-13939	494	12	to	to	ADP
fumecheng-13939	494	13	the	the	DET
fumecheng-13939	494	14	limitations	limitation	NOUN
fumecheng-13939	494	15	in	in	ADP
fumecheng-13939	494	16	the	the	DET
fumecheng-13939	494	17	number	number	NOUN
fumecheng-13939	494	18	of	of	ADP
fumecheng-13939	494	19	experimental	experimental	ADJ
fumecheng-13939	494	20	equipment	equipment	NOUN
fumecheng-13939	494	21	and	and	CCONJ
fumecheng-13939	494	22	venues	venue	NOUN
fumecheng-13939	494	23	,	,	PUNCT
fumecheng-13939	494	24	three	three	NUM
fumecheng-13939	494	25	uavs	uavs	NOUN
fumecheng-13939	494	26	,	,	PUNCT
fumecheng-13939	494	27	including	include	VERB
fumecheng-13939	494	28	one	one	NUM
fumecheng-13939	494	29	leader	leader	NOUN
fumecheng-13939	494	30	uav	uav	PROPN
fumecheng-13939	494	31	and	and	CCONJ
fumecheng-13939	494	32	two	two	NUM
fumecheng-13939	494	33	wingmen	wingman	NOUN
fumecheng-13939	494	34	,	,	PUNCT
fumecheng-13939	494	35	were	be	AUX
fumecheng-13939	494	36	subjected	subject	VERB
fumecheng-13939	494	37	to	to	ADP
fumecheng-13939	494	38	physical	physical	ADJ
fumecheng-13939	494	39	verification	verification	NOUN
fumecheng-13939	494	40	experiments	experiment	NOUN
fumecheng-13939	494	41	to	to	PART
fumecheng-13939	494	42	verify	verify	VERB
fumecheng-13939	494	43	the	the	DET
fumecheng-13939	494	44	effectiveness	effectiveness	NOUN
fumecheng-13939	494	45	of	of	ADP
fumecheng-13939	494	46	the	the	DET
fumecheng-13939	494	47	fault	fault	NOUN
fumecheng-13939	494	48	-	-	PUNCT
fumecheng-13939	494	49	tolerant	tolerant	ADJ
fumecheng-13939	494	50	control	control	NOUN
fumecheng-13939	494	51	method	method	NOUN
fumecheng-13939	494	52	for	for	ADP
fumecheng-13939	494	53	low	low	ADJ
fumecheng-13939	494	54	-	-	PUNCT
fumecheng-13939	494	55	altitude	altitude	NOUN
fumecheng-13939	494	56	uav	uav	PROPN
fumecheng-13939	494	57	clusters	cluster	NOUN
fumecheng-13939	494	58	via	via	ADP
fumecheng-13939	494	59	the	the	DET
fumecheng-13939	494	60	reduced	reduce	VERB
fumecheng-13939	494	61	-	-	PUNCT
fumecheng-13939	494	62	order	order	NOUN
fumecheng-13939	494	63	sliding	slide	VERB
fumecheng-13939	494	64	mode	mode	NOUN
fumecheng-13939	494	65	observer	observer	NOUN
fumecheng-13939	494	66	and	and	CCONJ
fumecheng-13939	494	67	the	the	DET
fumecheng-13939	494	68	stability	stability	NOUN
fumecheng-13939	494	69	of	of	ADP
fumecheng-13939	494	70	the	the	DET
fumecheng-13939	494	71	entire	entire	ADJ
fumecheng-13939	494	72	formation	formation	NOUN
fumecheng-13939	494	73	.	.	PUNCT
fumecheng-13939	495	1	to	to	PART
fumecheng-13939	495	2	ensure	ensure	VERB
fumecheng-13939	495	3	the	the	DET
fumecheng-13939	495	4	online	online	ADJ
fumecheng-13939	495	5	operation	operation	NOUN
fumecheng-13939	495	6	of	of	ADP
fumecheng-13939	495	7	various	various	ADJ
fumecheng-13939	495	8	complex	complex	ADJ
fumecheng-13939	495	9	algorithms	algorithm	NOUN
fumecheng-13939	495	10	,	,	PUNCT
fumecheng-13939	495	11	after	after	ADP
fumecheng-13939	495	12	using	use	VERB
fumecheng-13939	495	13	the	the	DET
fumecheng-13939	495	14	flight	flight	NOUN
fumecheng-13939	495	15	control	control	NOUN
fumecheng-13939	495	16	unit	unit	NOUN
fumecheng-13939	495	17	for	for	ADP
fumecheng-13939	495	18	low	low	ADJ
fumecheng-13939	495	19	-	-	PUNCT
fumecheng-13939	495	20	altitude	altitude	NOUN
fumecheng-13939	495	21	control	control	NOUN
fumecheng-13939	495	22	,	,	PUNCT
fumecheng-13939	495	23	all	all	DET
fumecheng-13939	495	24	uavs	uavs	NOUN
fumecheng-13939	495	25	in	in	ADP
fumecheng-13939	495	26	the	the	DET
fumecheng-13939	495	27	experiment	experiment	NOUN
fumecheng-13939	495	28	were	be	AUX
fumecheng-13939	495	29	equipped	equip	VERB
fumecheng-13939	495	30	with	with	ADP
fumecheng-13939	495	31	an	an	DET
fumecheng-13939	495	32	arm	arm	NOUN
fumecheng-13939	495	33	-	-	PUNCT
fumecheng-13939	495	34	based	base	VERB
fumecheng-13939	495	35	microcomputer	microcomputer	NOUN
fumecheng-13939	495	36	,	,	PUNCT
fumecheng-13939	495	37	odroid	odroid	NOUN
fumecheng-13939	495	38	-	-	PUNCT
fumecheng-13939	495	39	xu4	xu4	PROPN
fumecheng-13939	495	40	.	.	PUNCT
fumecheng-13939	496	1	this	this	DET
fumecheng-13939	496	2	computer	computer	NOUN
fumecheng-13939	496	3	runs	run	VERB
fumecheng-13939	496	4	a	a	DET
fumecheng-13939	496	5	64bit	64bit	NOUN
fumecheng-13939	496	6	operating	operating	NOUN
fumecheng-13939	496	7	system	system	NOUN
fumecheng-13939	496	8	and	and	CCONJ
fumecheng-13939	496	9	has	have	VERB
fumecheng-13939	496	10	an	an	DET
fumecheng-13939	496	11	ros	ros	PROPN
fumecheng-13939	496	12	development	development	NOUN
fumecheng-13939	496	13	environment	environment	NOUN
fumecheng-13939	496	14	built	build	VERB
fumecheng-13939	496	15	on	on	ADP
fumecheng-13939	496	16	it	it	PRON
fumecheng-13939	496	17	.	.	PUNCT
fumecheng-13939	497	1	most	most	ADJ
fumecheng-13939	497	2	of	of	ADP
fumecheng-13939	497	3	the	the	DET
fumecheng-13939	497	4	communication	communication	NOUN
fumecheng-13939	497	5	and	and	CCONJ
fumecheng-13939	497	6	data	datum	NOUN
fumecheng-13939	497	7	interaction	interaction	NOUN
fumecheng-13939	497	8	in	in	ADP
fumecheng-13939	497	9	the	the	DET
fumecheng-13939	497	10	project	project	NOUN
fumecheng-13939	497	11	is	be	AUX
fumecheng-13939	497	12	based	base	VERB
fumecheng-13939	497	13	on	on	ADP
fumecheng-13939	497	14	the	the	DET
fumecheng-13939	497	15	communication	communication	NOUN
fumecheng-13939	497	16	protocol	protocol	NOUN
fumecheng-13939	497	17	of	of	ADP
fumecheng-13939	497	18	the	the	DET
fumecheng-13939	497	19	ros	ros	PROPN
fumecheng-13939	497	20	.	.	PUNCT
fumecheng-13939	498	1	the	the	DET
fumecheng-13939	498	2	sensor	sensor	NOUN
fumecheng-13939	498	3	system	system	NOUN
fumecheng-13939	498	4	used	use	VERB
fumecheng-13939	498	5	in	in	ADP
fumecheng-13939	498	6	this	this	DET
fumecheng-13939	498	7	experiment	experiment	NOUN
fumecheng-13939	498	8	is	be	AUX
fumecheng-13939	498	9	a	a	DET
fumecheng-13939	498	10	sensor	sensor	NOUN
fumecheng-13939	498	11	model	model	NOUN
fumecheng-13939	498	12	more	more	ADV
fumecheng-13939	498	13	suitable	suitable	ADJ
fumecheng-13939	498	14	for	for	ADP
fumecheng-13939	498	15	coverage	coverage	NOUN
fumecheng-13939	498	16	path	path	NOUN
fumecheng-13939	498	17	planning	planning	NOUN
fumecheng-13939	498	18	,	,	PUNCT
fumecheng-13939	498	19	which	which	PRON
fumecheng-13939	498	20	better	well	ADV
fumecheng-13939	498	21	describes	describe	VERB
fumecheng-13939	498	22	the	the	DET
fumecheng-13939	498	23	coverage	coverage	NOUN
fumecheng-13939	498	24	effect	effect	NOUN
fumecheng-13939	498	25	of	of	ADP
fumecheng-13939	498	26	the	the	DET
fumecheng-13939	498	27	sensor	sensor	NOUN
fumecheng-13939	498	28	for	for	ADP
fumecheng-13939	498	29	different	different	ADJ
fumecheng-13939	498	30	location	location	NOUN
fumecheng-13939	498	31	areas	area	NOUN
fumecheng-13939	498	32	around	around	ADP
fumecheng-13939	498	33	it	it	PRON
fumecheng-13939	498	34	,	,	PUNCT
fumecheng-13939	498	35	by	by	ADP
fumecheng-13939	498	36	quantitatively	quantitatively	ADV
fumecheng-13939	498	37	describing	describe	VERB
fumecheng-13939	498	38	the	the	DET
fumecheng-13939	498	39	coverage	coverage	NOUN
fumecheng-13939	498	40	effect	effect	NOUN
fumecheng-13939	498	41	on	on	ADP
fumecheng-13939	498	42	a	a	DET
fumecheng-13939	498	43	certain	certain	ADJ
fumecheng-13939	498	44	range	range	NOUN
fumecheng-13939	498	45	of	of	ADP
fumecheng-13939	498	46	area	area	NOUN
fumecheng-13939	498	47	surrounding	surround	VERB
fumecheng-13939	498	48	the	the	DET
fumecheng-13939	498	49	flight	flight	NOUN
fumecheng-13939	498	50	path	path	NOUN
fumecheng-13939	498	51	,	,	PUNCT
fumecheng-13939	498	52	rather	rather	ADV
fumecheng-13939	498	53	than	than	ADP
fumecheng-13939	498	54	at	at	ADP
fumecheng-13939	498	55	a	a	DET
fumecheng-13939	498	56	fixed	fix	VERB
fumecheng-13939	498	57	point	point	NOUN
fumecheng-13939	498	58	.	.	PUNCT
fumecheng-13939	499	1	when	when	SCONJ
fumecheng-13939	499	2	the	the	DET
fumecheng-13939	499	3	uav	uav	PROPN
fumecheng-13939	499	4	moves	move	VERB
fumecheng-13939	499	5	along	along	ADP
fumecheng-13939	499	6	a	a	DET
fumecheng-13939	499	7	certain	certain	ADJ
fumecheng-13939	499	8	path	path	NOUN
fumecheng-13939	499	9	,	,	PUNCT
fumecheng-13939	499	10	the	the	DET
fumecheng-13939	499	11	sensor	sensor	NOUN
fumecheng-13939	499	12	system	system	NOUN
fumecheng-13939	499	13	will	will	AUX
fumecheng-13939	499	14	continuously	continuously	ADV
fumecheng-13939	499	15	collect	collect	VERB
fumecheng-13939	499	16	the	the	DET
fumecheng-13939	499	17	surrounding	surround	VERB
fumecheng-13939	499	18	information	information	NOUN
fumecheng-13939	499	19	,	,	PUNCT
fumecheng-13939	499	20	during	during	ADP
fumecheng-13939	499	21	which	which	PRON
fumecheng-13939	499	22	the	the	DET
fumecheng-13939	499	23	same	same	ADJ
fumecheng-13939	499	24	point	point	NOUN
fumecheng-13939	499	25	will	will	AUX
fumecheng-13939	499	26	be	be	AUX
fumecheng-13939	499	27	observed	observe	VERB
fumecheng-13939	499	28	several	several	ADJ
fumecheng-13939	499	29	times	time	NOUN
fumecheng-13939	499	30	.	.	PUNCT
fumecheng-13939	500	1	in	in	ADP
fumecheng-13939	500	2	addition	addition	NOUN
fumecheng-13939	500	3	,	,	PUNCT
fumecheng-13939	500	4	it	it	PRON
fumecheng-13939	500	5	is	be	AUX
fumecheng-13939	500	6	straightforward	straightforward	ADJ
fumecheng-13939	500	7	to	to	PART
fumecheng-13939	500	8	optimize	optimize	VERB
fumecheng-13939	500	9	the	the	DET
fumecheng-13939	500	10	coverage	coverage	NOUN
fumecheng-13939	500	11	path	path	NOUN
fumecheng-13939	500	12	of	of	ADP
fumecheng-13939	500	13	the	the	DET
fumecheng-13939	500	14	uav	uav	PROPN
fumecheng-13939	500	15	,	,	PUNCT
fumecheng-13939	500	16	i.e.	i.e.	X
fumecheng-13939	500	17	,	,	PUNCT
fumecheng-13939	500	18	a	a	DET
fumecheng-13939	500	19	segment	segment	NOUN
fumecheng-13939	500	20	of	of	ADP
fumecheng-13939	500	21	the	the	DET
fumecheng-13939	500	22	curve	curve	NOUN
fumecheng-13939	500	23	,	,	PUNCT
fumecheng-13939	500	24	to	to	PART
fumecheng-13939	500	25	calculate	calculate	VERB
fumecheng-13939	500	26	the	the	DET
fumecheng-13939	500	27	coverage	coverage	NOUN
fumecheng-13939	500	28	path	path	NOUN
fumecheng-13939	500	29	that	that	PRON
fumecheng-13939	500	30	can	can	AUX
fumecheng-13939	500	31	collect	collect	VERB
fumecheng-13939	500	32	the	the	DET
fumecheng-13939	500	33	most	most	ADV
fumecheng-13939	500	34	accurate	accurate	ADJ
fumecheng-13939	500	35	and	and	CCONJ
fumecheng-13939	500	36	reliable	reliable	ADJ
fumecheng-13939	500	37	position	position	NOUN
fumecheng-13939	500	38	information	information	NOUN
fumecheng-13939	500	39	.	.	PUNCT
fumecheng-13939	501	1	the	the	DET
fumecheng-13939	501	2	spatial	spatial	ADJ
fumecheng-13939	501	3	localization	localization	NOUN
fumecheng-13939	501	4	system	system	NOUN
fumecheng-13939	501	5	used	use	VERB
fumecheng-13939	501	6	in	in	ADP
fumecheng-13939	501	7	the	the	DET
fumecheng-13939	501	8	experiments	experiment	NOUN
fumecheng-13939	501	9	is	be	AUX
fumecheng-13939	501	10	the	the	DET
fumecheng-13939	501	11	optitrack	optitrack	NOUN
fumecheng-13939	501	12	system	system	NOUN
fumecheng-13939	501	13	,	,	PUNCT
fumecheng-13939	501	14	which	which	PRON
fumecheng-13939	501	15	consists	consist	VERB
fumecheng-13939	501	16	of	of	ADP
fumecheng-13939	501	17	a	a	DET
fumecheng-13939	501	18	number	number	NOUN
fumecheng-13939	501	19	of	of	ADP
fumecheng-13939	501	20	infrared	infrared	ADJ
fumecheng-13939	501	21	cameras	camera	NOUN
fumecheng-13939	501	22	distributed	distribute	VERB
fumecheng-13939	501	23	on	on	ADP
fumecheng-13939	501	24	the	the	DET
fumecheng-13939	501	25	top	top	NOUN
fumecheng-13939	501	26	around	around	ADP
fumecheng-13939	501	27	the	the	DET
fumecheng-13939	501	28	room	room	NOUN
fumecheng-13939	501	29	to	to	PART
fumecheng-13939	501	30	achieve	achieve	VERB
fumecheng-13939	501	31	the	the	DET
fumecheng-13939	501	32	tracking	tracking	NOUN
fumecheng-13939	501	33	of	of	ADP
fumecheng-13939	501	34	uavs	uavs	NOUN
fumecheng-13939	501	35	within	within	ADP
fumecheng-13939	501	36	a	a	DET
fumecheng-13939	501	37	defined	define	VERB
fumecheng-13939	501	38	range	range	NOUN
fumecheng-13939	501	39	.	.	PUNCT
fumecheng-13939	502	1	its	its	PRON
fumecheng-13939	502	2	infrared	infrared	ADJ
fumecheng-13939	502	3	cameras	camera	NOUN
fumecheng-13939	502	4	are	be	AUX
fumecheng-13939	502	5	connected	connect	VERB
fumecheng-13939	502	6	to	to	ADP
fumecheng-13939	502	7	a	a	DET
fumecheng-13939	502	8	pc	pc	NOUN
fumecheng-13939	502	9	serving	serve	VERB
fumecheng-13939	502	10	as	as	ADP
fumecheng-13939	502	11	the	the	DET
fumecheng-13939	502	12	host	host	NOUN
fumecheng-13939	502	13	computer	computer	NOUN
fumecheng-13939	502	14	through	through	ADP
fumecheng-13939	502	15	an	an	DET
fumecheng-13939	502	16	optihub	optihub	ADJ
fumecheng-13939	502	17	integrator	integrator	NOUN
fumecheng-13939	502	18	,	,	PUNCT
fumecheng-13939	502	19	which	which	PRON
fumecheng-13939	502	20	provides	provide	VERB
fumecheng-13939	502	21	positional	positional	ADJ
fumecheng-13939	502	22	information	information	NOUN
fumecheng-13939	502	23	for	for	ADP
fumecheng-13939	502	24	the	the	DET
fumecheng-13939	502	25	indoor	indoor	ADJ
fumecheng-13939	502	26	target	target	NOUN
fumecheng-13939	502	27	by	by	ADP
fumecheng-13939	502	28	recognizing	recognize	VERB
fumecheng-13939	502	29	the	the	DET
fumecheng-13939	502	30	calibration	calibration	NOUN
fumecheng-13939	502	31	sphere	sphere	ADV
fumecheng-13939	502	32	attached	attach	VERB
fumecheng-13939	502	33	to	to	ADP
fumecheng-13939	502	34	the	the	DET
fumecheng-13939	502	35	target	target	NOUN
fumecheng-13939	502	36	.	.	PUNCT
fumecheng-13939	503	1	a	a	DET
fumecheng-13939	503	2	dual	dual	ADJ
fumecheng-13939	503	3	-	-	PUNCT
fumecheng-13939	503	4	frequency	frequency	NOUN
fumecheng-13939	503	5	wireless	wireless	NOUN
fumecheng-13939	503	6	router	router	NOUN
fumecheng-13939	503	7	was	be	AUX
fumecheng-13939	503	8	used	use	VERB
fumecheng-13939	503	9	in	in	ADP
fumecheng-13939	503	10	this	this	DET
fumecheng-13939	503	11	study	study	NOUN
fumecheng-13939	503	12	to	to	PART
fumecheng-13939	503	13	set	set	VERB
fumecheng-13939	503	14	up	up	ADP
fumecheng-13939	503	15	a	a	DET
fumecheng-13939	503	16	local	local	ADJ
fumecheng-13939	503	17	area	area	NOUN
fumecheng-13939	503	18	network	network	NOUN
fumecheng-13939	503	19	to	to	PART
fumecheng-13939	503	20	connect	connect	VERB
fumecheng-13939	503	21	all	all	DET
fumecheng-13939	503	22	experimental	experimental	ADJ
fumecheng-13939	503	23	devices	device	NOUN
fumecheng-13939	503	24	.	.	PUNCT
fumecheng-13939	504	1	the	the	DET
fumecheng-13939	504	2	entire	entire	ADJ
fumecheng-13939	504	3	network	network	NOUN
fumecheng-13939	504	4	environment	environment	NOUN
fumecheng-13939	504	5	is	be	AUX
fumecheng-13939	504	6	shown	show	VERB
fumecheng-13939	504	7	in	in	ADP
fumecheng-13939	504	8	fig	fig	NOUN
fumecheng-13939	504	9	.	.	PUNCT
fumecheng-13939	505	1	3	3	NUM
fumecheng-13939	505	2	,	,	PUNCT
fumecheng-13939	505	3	which	which	PRON
fumecheng-13939	505	4	includes	include	VERB
fumecheng-13939	505	5	both	both	PRON
fumecheng-13939	505	6	a	a	DET
fumecheng-13939	505	7	wired	wire	VERB
fumecheng-13939	505	8	and	and	CCONJ
fumecheng-13939	505	9	a	a	DET
fumecheng-13939	505	10	wireless	wireless	ADJ
fumecheng-13939	505	11	local	local	ADJ
fumecheng-13939	505	12	area	area	NOUN
fumecheng-13939	505	13	network	network	NOUN
fumecheng-13939	505	14	.	.	PUNCT
fumecheng-13939	506	1	the	the	DET
fumecheng-13939	506	2	experimental	experimental	ADJ
fumecheng-13939	506	3	setup	setup	NOUN
fumecheng-13939	506	4	included	include	VERB
fumecheng-13939	506	5	a	a	DET
fumecheng-13939	506	6	leader	leader	NOUN
fumecheng-13939	506	7	uav	uav	PROPN
fumecheng-13939	506	8	(	(	PUNCT
fumecheng-13939	506	9	qbot2	qbot2	NOUN
fumecheng-13939	506	10	-	-	PUNCT
fumecheng-13939	506	11	l	l	NOUN
fumecheng-13939	506	12	)	)	PUNCT
fumecheng-13939	506	13	and	and	CCONJ
fumecheng-13939	506	14	two	two	NUM
fumecheng-13939	506	15	follower	follower	NOUN
fumecheng-13939	506	16	uavs	uavs	NOUN
fumecheng-13939	506	17	(	(	PUNCT
fumecheng-13939	506	18	qball	qball	ADV
fumecheng-13939	506	19	-	-	PUNCT
fumecheng-13939	506	20	x4	x4	PROPN
fumecheng-13939	506	21	and	and	CCONJ
fumecheng-13939	506	22	qbot2	qbot2	PROPN
fumecheng-13939	506	23	-	-	PUNCT
fumecheng-13939	506	24	f	f	PROPN
fumecheng-13939	506	25	)	)	PUNCT
fumecheng-13939	506	26	.	.	PUNCT
fumecheng-13939	507	1	fault	fault	NOUN
fumecheng-13939	507	2	-	-	PUNCT
fumecheng-13939	507	3	tolerant	tolerant	ADJ
fumecheng-13939	507	4	control	control	NOUN
fumecheng-13939	507	5	of	of	ADP
fumecheng-13939	507	6	low	low	ADJ
fumecheng-13939	507	7	-	-	PUNCT
fumecheng-13939	507	8	altitude	altitude	NOUN
fumecheng-13939	507	9	unmanned	unmanned	ADJ
fumecheng-13939	507	10	aerial	aerial	ADJ
fumecheng-13939	507	11	vehicle	vehicle	NOUN
fumecheng-13939	507	12	swarms	swarm	NOUN
fumecheng-13939	507	13	using	use	VERB
fumecheng-13939	507	14	...	...	PUNCT
fumecheng-13939	507	15	15	15	NUM
fumecheng-13939	507	16	fig	fig	NOUN
fumecheng-13939	507	17	.	.	PUNCT
fumecheng-13939	508	1	3	3	NUM
fumecheng-13939	508	2	low	low	ADJ
fumecheng-13939	508	3	-	-	PUNCT
fumecheng-13939	508	4	altitude	altitude	NOUN
fumecheng-13939	508	5	uav	uav	PROPN
fumecheng-13939	508	6	swarm	swarm	NOUN
fumecheng-13939	508	7	experimental	experimental	ADJ
fumecheng-13939	508	8	platform	platform	NOUN
fumecheng-13939	508	9	in	in	ADP
fumecheng-13939	508	10	considering	consider	VERB
fumecheng-13939	508	11	the	the	DET
fumecheng-13939	508	12	failure	failure	NOUN
fumecheng-13939	508	13	of	of	ADP
fumecheng-13939	508	14	a	a	DET
fumecheng-13939	508	15	single	single	ADJ
fumecheng-13939	508	16	actuator	actuator	NOUN
fumecheng-13939	508	17	,	,	PUNCT
fumecheng-13939	508	18	the	the	DET
fumecheng-13939	508	19	four	four	NUM
fumecheng-13939	508	20	motors	motor	NOUN
fumecheng-13939	508	21	were	be	AUX
fumecheng-13939	508	22	named	name	VERB
fumecheng-13939	508	23	separately	separately	ADV
fumecheng-13939	508	24	to	to	PART
fumecheng-13939	508	25	distinguish	distinguish	VERB
fumecheng-13939	508	26	the	the	DET
fumecheng-13939	508	27	four	four	NUM
fumecheng-13939	508	28	motors	motor	NOUN
fumecheng-13939	508	29	of	of	ADP
fumecheng-13939	508	30	the	the	DET
fumecheng-13939	508	31	quadrotor	quadrotor	NOUN
fumecheng-13939	508	32	.	.	PUNCT
fumecheng-13939	509	1	the	the	DET
fumecheng-13939	509	2	specific	specific	ADJ
fumecheng-13939	509	3	naming	naming	NOUN
fumecheng-13939	509	4	method	method	NOUN
fumecheng-13939	509	5	was	be	AUX
fumecheng-13939	509	6	to	to	PART
fumecheng-13939	509	7	take	take	VERB
fumecheng-13939	509	8	the	the	DET
fumecheng-13939	509	9	nose	nose	NOUN
fumecheng-13939	509	10	as	as	ADP
fumecheng-13939	509	11	the	the	DET
fumecheng-13939	509	12	forward	forward	NOUN
fumecheng-13939	509	13	.	.	PUNCT
fumecheng-13939	510	1	the	the	DET
fumecheng-13939	510	2	motor	motor	NOUN
fumecheng-13939	510	3	inputs	input	NOUN
fumecheng-13939	510	4	were	be	AUX
fumecheng-13939	510	5	designated	designate	VERB
fumecheng-13939	510	6	as	as	SCONJ
fumecheng-13939	510	7	follows	follow	VERB
fumecheng-13939	510	8	:	:	PUNCT
fumecheng-13939	510	9	the	the	DET
fumecheng-13939	510	10	rear	rear	ADJ
fumecheng-13939	510	11	motor	motor	NOUN
fumecheng-13939	510	12	as	as	ADP
fumecheng-13939	510	13	u1	u1	NOUN
fumecheng-13939	510	14	,	,	PUNCT
fumecheng-13939	510	15	the	the	DET
fumecheng-13939	510	16	front	front	NOUN
fumecheng-13939	510	17	as	as	ADP
fumecheng-13939	510	18	u2	u2	NOUN
fumecheng-13939	510	19	,	,	PUNCT
fumecheng-13939	510	20	the	the	DET
fumecheng-13939	510	21	left	left	NOUN
fumecheng-13939	510	22	as	as	ADP
fumecheng-13939	510	23	u3	u3	NOUN
fumecheng-13939	510	24	,	,	PUNCT
fumecheng-13939	510	25	and	and	CCONJ
fumecheng-13939	510	26	the	the	DET
fumecheng-13939	510	27	right	right	NOUN
fumecheng-13939	510	28	as	as	ADP
fumecheng-13939	510	29	u4	u4	PROPN
fumecheng-13939	510	30	.	.	PUNCT
fumecheng-13939	511	1	the	the	DET
fumecheng-13939	511	2	fault	fault	NOUN
fumecheng-13939	511	3	selection	selection	NOUN
fumecheng-13939	511	4	in	in	ADP
fumecheng-13939	511	5	this	this	DET
fumecheng-13939	511	6	compensate	compensate	NOUN
fumecheng-13939	511	7	is	be	AUX
fumecheng-13939	511	8	a	a	DET
fumecheng-13939	511	9	10	10	NUM
fumecheng-13939	511	10	%	%	NOUN
fumecheng-13939	511	11	failure	failure	NOUN
fumecheng-13939	511	12	of	of	ADP
fumecheng-13939	511	13	the	the	DET
fumecheng-13939	511	14	rear	rear	ADJ
fumecheng-13939	511	15	motor	motor	NOUN
fumecheng-13939	511	16	,	,	PUNCT
fumecheng-13939	511	17	occurring	occur	VERB
fumecheng-13939	511	18	35	35	NUM
fumecheng-13939	511	19	seconds	second	NOUN
fumecheng-13939	511	20	after	after	ADP
fumecheng-13939	511	21	the	the	DET
fumecheng-13939	511	22	start	start	NOUN
fumecheng-13939	511	23	of	of	ADP
fumecheng-13939	511	24	the	the	DET
fumecheng-13939	511	25	mission	mission	NOUN
fumecheng-13939	511	26	.	.	PUNCT
fumecheng-13939	512	1	the	the	DET
fumecheng-13939	512	2	control	control	NOUN
fumecheng-13939	512	3	parameters	parameter	NOUN
fumecheng-13939	512	4	were	be	AUX
fumecheng-13939	512	5	selected	select	VERB
fumecheng-13939	512	6	as	as	ADP
fumecheng-13939	512	7	:	:	PUNCT
fumecheng-13939	512	8	[	[	X
fumecheng-13939	512	9	1	1	NUM
fumecheng-13939	512	10	,	,	PUNCT
fumecheng-13939	512	11	2.682,0,5]t	2.682,0,5]t	NUM
fumecheng-13939	512	12	d	d	NOUN
fumecheng-13939	512	13	(	(	PUNCT
fumecheng-13939	512	14	57	57	NUM
fumecheng-13939	512	15	)	)	SYM
fumecheng-13939	512	16	1	1	NUM
fumecheng-13939	512	17	[	[	PUNCT
fumecheng-13939	512	18	1.753	1.753	NUM
fumecheng-13939	512	19	,	,	PUNCT
fumecheng-13939	512	20	0.0612,0.1356]	0.0612,0.1356]	NUM
fumecheng-13939	512	21			PROPN
fumecheng-13939	512	22	f	f	NOUN
fumecheng-13939	512	23	(	(	PUNCT
fumecheng-13939	512	24	58	58	NUM
fumecheng-13939	512	25	)	)	PUNCT
fumecheng-13939	512	26	2	2	NUM
fumecheng-13939	512	27	0.1287	0.1287	NUM
fumecheng-13939	512	28	1.4021	1.4021	NUM
fumecheng-13939	512	29	3.1981	3.1981	NUM
fumecheng-13939	512	30	0.0112	0.0112	NUM
fumecheng-13939	512	31	4.1372	4.1372	NUM
fumecheng-13939	512	32	0.0498	0.0498	NUM
fumecheng-13939	512	33			NOUN
fumecheng-13939	512	34			NOUN
fumecheng-13939	512	35			NOUN
fumecheng-13939	512	36			PROPN
fumecheng-13939	512	37			NOUN
fumecheng-13939	512	38			NOUN
fumecheng-13939	512	39			NOUN
fumecheng-13939	512	40			NOUN
fumecheng-13939	512	41			PROPN
fumecheng-13939	512	42	f	f	PROPN
fumecheng-13939	512	43	(	(	PUNCT
fumecheng-13939	512	44	59	59	NUM
fumecheng-13939	512	45	)	)	PUNCT
fumecheng-13939	512	46	2.682	2.682	NUM
fumecheng-13939	512	47	1.093	1.093	NUM
fumecheng-13939	512	48	0.2534	0.2534	NUM
fumecheng-13939	512	49	0	0	NUM
fumecheng-13939	512	50	0.416	0.416	NUM
fumecheng-13939	512	51	4.211	4.211	NUM
fumecheng-13939	512	52	0	0	NUM
fumecheng-13939	512	53	143.234	143.234	NUM
fumecheng-13939	512	54	0.4532	0.4532	NUM
fumecheng-13939	512	55			NOUN
fumecheng-13939	512	56			NOUN
fumecheng-13939	512	57			NOUN
fumecheng-13939	512	58			X
fumecheng-13939	513	1			ADJ
fumecheng-13939	513	2			PROPN
fumecheng-13939	513	3			PROPN
fumecheng-13939	513	4			NOUN
fumecheng-13939	513	5			PROPN
fumecheng-13939	513	6			PROPN
fumecheng-13939	513	7	h	h	NOUN
fumecheng-13939	513	8	(	(	PUNCT
fumecheng-13939	513	9	60	60	NUM
fumecheng-13939	513	10	)	)	PUNCT
fumecheng-13939	513	11	4.1	4.1	NUM
fumecheng-13939	513	12	single	single	ADJ
fumecheng-13939	513	13	actuator	actuator	NOUN
fumecheng-13939	513	14	failure	failure	NOUN
fumecheng-13939	513	15	it	it	PRON
fumecheng-13939	513	16	can	can	AUX
fumecheng-13939	513	17	be	be	AUX
fumecheng-13939	513	18	seen	see	VERB
fumecheng-13939	513	19	from	from	ADP
fumecheng-13939	513	20	fig	fig	NOUN
fumecheng-13939	513	21	.	.	PUNCT
fumecheng-13939	514	1	4	4	NUM
fumecheng-13939	514	2	that	that	SCONJ
fumecheng-13939	514	3	when	when	SCONJ
fumecheng-13939	514	4	the	the	DET
fumecheng-13939	514	5	fault	fault	NOUN
fumecheng-13939	514	6	occurs	occur	VERB
fumecheng-13939	514	7	,	,	PUNCT
fumecheng-13939	514	8	because	because	SCONJ
fumecheng-13939	514	9	the	the	DET
fumecheng-13939	514	10	rear	rear	ADJ
fumecheng-13939	514	11	motor	motor	NOUN
fumecheng-13939	514	12	fails	fail	VERB
fumecheng-13939	514	13	by	by	ADP
fumecheng-13939	514	14	10	10	NUM
fumecheng-13939	514	15	%	%	NOUN
fumecheng-13939	514	16	,	,	PUNCT
fumecheng-13939	514	17	the	the	DET
fumecheng-13939	514	18	rear	rear	ADJ
fumecheng-13939	514	19	motor	motor	NOUN
fumecheng-13939	514	20	is	be	AUX
fumecheng-13939	514	21	facing	face	VERB
fumecheng-13939	514	22	the	the	DET
fumecheng-13939	514	23	positive	positive	ADJ
fumecheng-13939	514	24	direction	direction	NOUN
fumecheng-13939	514	25	of	of	ADP
fumecheng-13939	514	26	the	the	DET
fumecheng-13939	514	27	z	z	NOUN
fumecheng-13939	514	28	-	-	PUNCT
fumecheng-13939	514	29	axis	axis	NOUN
fumecheng-13939	514	30	.	.	PUNCT
fumecheng-13939	515	1	therefore	therefore	ADV
fumecheng-13939	515	2	,	,	PUNCT
fumecheng-13939	515	3	the	the	DET
fumecheng-13939	515	4	positive	positive	ADJ
fumecheng-13939	515	5	direction	direction	NOUN
fumecheng-13939	515	6	of	of	ADP
fumecheng-13939	515	7	the	the	DET
fumecheng-13939	515	8	z	z	NOUN
fumecheng-13939	515	9	-	-	PUNCT
fumecheng-13939	515	10	axis	axis	NOUN
fumecheng-13939	515	11	decreases	decrease	NOUN
fumecheng-13939	515	12	,	,	PUNCT
fumecheng-13939	515	13	resulting	result	VERB
fumecheng-13939	515	14	in	in	ADP
fumecheng-13939	515	15	a	a	DET
fumecheng-13939	515	16	decrease	decrease	NOUN
fumecheng-13939	515	17	in	in	ADP
fumecheng-13939	515	18	the	the	DET
fumecheng-13939	515	19	pitch	pitch	NOUN
fumecheng-13939	515	20	angle	angle	NOUN
fumecheng-13939	515	21	.	.	PUNCT
fumecheng-13939	516	1	the	the	DET
fumecheng-13939	516	2	observer	observer	NOUN
fumecheng-13939	516	3	will	will	AUX
fumecheng-13939	516	4	compensate	compensate	VERB
fumecheng-13939	516	5	for	for	ADP
fumecheng-13939	516	6	the	the	DET
fumecheng-13939	516	7	estimated	estimate	VERB
fumecheng-13939	516	8	fault	fault	NOUN
fumecheng-13939	516	9	size	size	NOUN
fumecheng-13939	516	10	in	in	ADP
fumecheng-13939	516	11	the	the	DET
fumecheng-13939	516	12	controller	controller	NOUN
fumecheng-13939	516	13	to	to	PART
fumecheng-13939	516	14	return	return	VERB
fumecheng-13939	516	15	the	the	DET
fumecheng-13939	516	16	uav	uav	PROPN
fumecheng-13939	516	17	to	to	ADP
fumecheng-13939	516	18	the	the	DET
fumecheng-13939	516	19	original	original	ADJ
fumecheng-13939	516	20	path	path	NOUN
fumecheng-13939	516	21	.	.	PUNCT
fumecheng-13939	517	1	the	the	DET
fumecheng-13939	517	2	pitch	pitch	NOUN
fumecheng-13939	517	3	angle	angle	NOUN
fumecheng-13939	517	4	is	be	AUX
fumecheng-13939	517	5	maintained	maintain	VERB
fumecheng-13939	517	6	at	at	ADP
fumecheng-13939	517	7	the	the	DET
fumecheng-13939	517	8	original	original	ADJ
fumecheng-13939	517	9	angle	angle	NOUN
fumecheng-13939	517	10	and	and	CCONJ
fumecheng-13939	517	11	the	the	DET
fumecheng-13939	517	12	pitch	pitch	NOUN
fumecheng-13939	517	13	angle	angle	PROPN
fumecheng-13939	517	14	control	control	PROPN
fumecheng-13939	517	15	command	command	NOUN
fumecheng-13939	517	16	increases	increase	VERB
fumecheng-13939	517	17	rapidly	rapidly	ADV
fumecheng-13939	517	18	.	.	PUNCT
fumecheng-13939	518	1	after	after	ADP
fumecheng-13939	518	2	about	about	ADV
fumecheng-13939	518	3	8	8	NUM
fumecheng-13939	518	4	seconds	second	NOUN
fumecheng-13939	518	5	,	,	PUNCT
fumecheng-13939	518	6	the	the	DET
fumecheng-13939	518	7	uav	uav	PROPN
fumecheng-13939	518	8	returns	return	VERB
fumecheng-13939	518	9	to	to	ADP
fumecheng-13939	518	10	the	the	DET
fumecheng-13939	518	11	proper	proper	ADJ
fumecheng-13939	518	12	path	path	NOUN
fumecheng-13939	518	13	,	,	PUNCT
fumecheng-13939	518	14	and	and	CCONJ
fumecheng-13939	518	15	the	the	DET
fumecheng-13939	518	16	pitch	pitch	NOUN
fumecheng-13939	518	17	angle	angle	PROPN
fumecheng-13939	518	18	control	control	NOUN
fumecheng-13939	518	19	command	command	NOUN
fumecheng-13939	518	20	returns	return	NOUN
fumecheng-13939	518	21	to	to	ADP
fumecheng-13939	518	22	zero	zero	NUM
fumecheng-13939	518	23	.	.	PUNCT
fumecheng-13939	519	1	it	it	PRON
fumecheng-13939	519	2	can	can	AUX
fumecheng-13939	519	3	be	be	AUX
fumecheng-13939	519	4	seen	see	VERB
fumecheng-13939	519	5	from	from	ADP
fumecheng-13939	519	6	the	the	DET
fumecheng-13939	519	7	optitrack	optitrack	NOUN
fumecheng-13939	519	8	curve	curve	NOUN
fumecheng-13939	519	9	that	that	SCONJ
fumecheng-13939	519	10	the	the	DET
fumecheng-13939	519	11	actual	actual	ADJ
fumecheng-13939	519	12	pitch	pitch	NOUN
fumecheng-13939	519	13	angle	angle	NOUN
fumecheng-13939	519	14	is	be	AUX
fumecheng-13939	519	15	not	not	PART
fumecheng-13939	519	16	greatly	greatly	ADV
fumecheng-13939	519	17	affected	affect	VERB
fumecheng-13939	519	18	.	.	PUNCT
fumecheng-13939	520	1	in	in	ADP
fumecheng-13939	520	2	addition	addition	NOUN
fumecheng-13939	520	3	,	,	PUNCT
fumecheng-13939	520	4	it	it	PRON
fumecheng-13939	520	5	can	can	AUX
fumecheng-13939	520	6	be	be	AUX
fumecheng-13939	520	7	seen	see	VERB
fumecheng-13939	520	8	that	that	SCONJ
fumecheng-13939	520	9	the	the	DET
fumecheng-13939	520	10	effectiveness	effectiveness	NOUN
fumecheng-13939	520	11	16	16	NUM
fumecheng-13939	520	12	l.	l.	PROPN
fumecheng-13939	520	13	xu	xu	PROPN
fumecheng-13939	520	14	of	of	ADP
fumecheng-13939	520	15	the	the	DET
fumecheng-13939	520	16	reduced	reduce	VERB
fumecheng-13939	520	17	-	-	PUNCT
fumecheng-13939	520	18	order	order	NOUN
fumecheng-13939	520	19	sliding	slide	VERB
fumecheng-13939	520	20	mode	mode	NOUN
fumecheng-13939	520	21	observer	observer	NOUN
fumecheng-13939	520	22	and	and	CCONJ
fumecheng-13939	520	23	the	the	DET
fumecheng-13939	520	24	fault	fault	NOUN
fumecheng-13939	520	25	-	-	PUNCT
fumecheng-13939	520	26	tolerant	tolerant	ADJ
fumecheng-13939	520	27	controller	controller	NOUN
fumecheng-13939	520	28	is	be	AUX
fumecheng-13939	520	29	evident	evident	ADJ
fumecheng-13939	520	30	and	and	CCONJ
fumecheng-13939	520	31	will	will	AUX
fumecheng-13939	520	32	be	be	AUX
fumecheng-13939	520	33	more	more	ADV
fumecheng-13939	520	34	intuitively	intuitively	ADV
fumecheng-13939	520	35	reflected	reflect	VERB
fumecheng-13939	520	36	in	in	ADP
fumecheng-13939	520	37	the	the	DET
fumecheng-13939	520	38	subsequent	subsequent	ADJ
fumecheng-13939	520	39	trajectory	trajectory	NOUN
fumecheng-13939	520	40	diagram	diagram	PROPN
fumecheng-13939	520	41	.	.	PUNCT
fumecheng-13939	521	1	fig	fig	NOUN
fumecheng-13939	521	2	.	.	PUNCT
fumecheng-13939	522	1	4	4	NUM
fumecheng-13939	522	2	pitch	pitch	NOUN
fumecheng-13939	522	3	angle	angle	NOUN
fumecheng-13939	522	4	tracking	tracking	NOUN
fumecheng-13939	522	5	when	when	SCONJ
fumecheng-13939	522	6	a	a	DET
fumecheng-13939	522	7	single	single	ADJ
fumecheng-13939	522	8	actuator	actuator	NOUN
fumecheng-13939	522	9	fails	fail	VERB
fumecheng-13939	522	10	remark	remark	NOUN
fumecheng-13939	522	11	1	1	NUM
fumecheng-13939	522	12	:	:	PUNCT
fumecheng-13939	522	13	too	too	ADV
fumecheng-13939	522	14	many	many	ADJ
fumecheng-13939	522	15	transitions	transition	NOUN
fumecheng-13939	522	16	can	can	AUX
fumecheng-13939	522	17	be	be	AUX
fumecheng-13939	522	18	seen	see	VERB
fumecheng-13939	522	19	in	in	ADP
fumecheng-13939	522	20	the	the	DET
fumecheng-13939	522	21	results	result	NOUN
fumecheng-13939	522	22	.	.	PUNCT
fumecheng-13939	523	1	some	some	DET
fumecheng-13939	523	2	transitions	transition	NOUN
fumecheng-13939	523	3	are	be	AUX
fumecheng-13939	523	4	inevitable	inevitable	ADJ
fumecheng-13939	523	5	in	in	ADP
fumecheng-13939	523	6	the	the	DET
fumecheng-13939	523	7	dynamic	dynamic	ADJ
fumecheng-13939	523	8	adjustment	adjustment	NOUN
fumecheng-13939	523	9	of	of	ADP
fumecheng-13939	523	10	uav	uav	PROPN
fumecheng-13939	523	11	systems	system	NOUN
fumecheng-13939	523	12	,	,	PUNCT
fumecheng-13939	523	13	while	while	SCONJ
fumecheng-13939	523	14	others	other	NOUN
fumecheng-13939	523	15	are	be	AUX
fumecheng-13939	523	16	caused	cause	VERB
fumecheng-13939	523	17	by	by	ADP
fumecheng-13939	523	18	external	external	ADJ
fumecheng-13939	523	19	interference	interference	NOUN
fumecheng-13939	523	20	noise	noise	NOUN
fumecheng-13939	523	21	.	.	PUNCT
fumecheng-13939	524	1	they	they	PRON
fumecheng-13939	524	2	can	can	AUX
fumecheng-13939	524	3	be	be	AUX
fumecheng-13939	524	4	eliminated	eliminate	VERB
fumecheng-13939	524	5	by	by	ADP
fumecheng-13939	524	6	increasing	increase	VERB
fumecheng-13939	524	7	the	the	DET
fumecheng-13939	524	8	hardware	hardware	NOUN
fumecheng-13939	524	9	's	's	PART
fumecheng-13939	524	10	anti	anti	ADJ
fumecheng-13939	524	11	-	-	ADJ
fumecheng-13939	524	12	interference	interference	ADJ
fumecheng-13939	524	13	ability	ability	NOUN
fumecheng-13939	524	14	.	.	PUNCT
fumecheng-13939	525	1	as	as	SCONJ
fumecheng-13939	525	2	it	it	PRON
fumecheng-13939	525	3	can	can	AUX
fumecheng-13939	525	4	be	be	AUX
fumecheng-13939	525	5	seen	see	VERB
fumecheng-13939	525	6	in	in	ADP
fumecheng-13939	525	7	fig	fig	NOUN
fumecheng-13939	525	8	.	.	PUNCT
fumecheng-13939	526	1	5	5	NUM
fumecheng-13939	526	2	,	,	PUNCT
fumecheng-13939	526	3	the	the	DET
fumecheng-13939	526	4	roll	roll	NOUN
fumecheng-13939	526	5	angle	angle	NOUN
fumecheng-13939	526	6	is	be	AUX
fumecheng-13939	526	7	almost	almost	ADV
fumecheng-13939	526	8	not	not	PART
fumecheng-13939	526	9	affected	affect	VERB
fumecheng-13939	526	10	by	by	ADP
fumecheng-13939	526	11	the	the	DET
fumecheng-13939	526	12	failure	failure	NOUN
fumecheng-13939	526	13	of	of	ADP
fumecheng-13939	526	14	the	the	DET
fumecheng-13939	526	15	rear	rear	ADJ
fumecheng-13939	526	16	motor	motor	NOUN
fumecheng-13939	526	17	.	.	PUNCT
fumecheng-13939	527	1	the	the	DET
fumecheng-13939	527	2	roll	roll	NOUN
fumecheng-13939	527	3	angle	angle	NOUN
fumecheng-13939	527	4	command	command	NOUN
fumecheng-13939	527	5	only	only	ADV
fumecheng-13939	527	6	changes	change	NOUN
fumecheng-13939	527	7	for	for	ADP
fumecheng-13939	527	8	a	a	DET
fumecheng-13939	527	9	split	split	NOUN
fumecheng-13939	527	10	second	second	ADJ
fumecheng-13939	527	11	at	at	ADP
fumecheng-13939	527	12	35	35	NUM
fumecheng-13939	527	13	seconds	second	NOUN
fumecheng-13939	527	14	,	,	PUNCT
fumecheng-13939	527	15	but	but	CCONJ
fumecheng-13939	527	16	the	the	DET
fumecheng-13939	527	17	whole	whole	NOUN
fumecheng-13939	527	18	is	be	AUX
fumecheng-13939	527	19	not	not	PART
fumecheng-13939	527	20	affected	affect	VERB
fumecheng-13939	527	21	,	,	PUNCT
fumecheng-13939	527	22	which	which	PRON
fumecheng-13939	527	23	is	be	AUX
fumecheng-13939	527	24	consistent	consistent	ADJ
fumecheng-13939	527	25	with	with	ADP
fumecheng-13939	527	26	the	the	DET
fumecheng-13939	527	27	theoretical	theoretical	ADJ
fumecheng-13939	527	28	situation	situation	NOUN
fumecheng-13939	527	29	.	.	PUNCT
fumecheng-13939	528	1	fig	fig	NOUN
fumecheng-13939	528	2	.	.	PUNCT
fumecheng-13939	529	1	5	5	NUM
fumecheng-13939	529	2	roll	roll	NOUN
fumecheng-13939	529	3	angle	angle	NOUN
fumecheng-13939	529	4	tracking	tracking	NOUN
fumecheng-13939	529	5	when	when	SCONJ
fumecheng-13939	529	6	a	a	DET
fumecheng-13939	529	7	single	single	ADJ
fumecheng-13939	529	8	actuator	actuator	NOUN
fumecheng-13939	529	9	fails	fail	VERB
fumecheng-13939	529	10	fault	fault	NOUN
fumecheng-13939	529	11	-	-	PUNCT
fumecheng-13939	529	12	tolerant	tolerant	ADJ
fumecheng-13939	529	13	control	control	NOUN
fumecheng-13939	529	14	of	of	ADP
fumecheng-13939	529	15	low	low	ADJ
fumecheng-13939	529	16	-	-	PUNCT
fumecheng-13939	529	17	altitude	altitude	NOUN
fumecheng-13939	529	18	unmanned	unmanned	ADJ
fumecheng-13939	529	19	aerial	aerial	ADJ
fumecheng-13939	529	20	vehicle	vehicle	NOUN
fumecheng-13939	529	21	swarms	swarm	NOUN
fumecheng-13939	529	22	using	use	VERB
fumecheng-13939	529	23	...	...	PUNCT
fumecheng-13939	529	24	17	17	NUM
fumecheng-13939	529	25	fig	fig	NOUN
fumecheng-13939	529	26	.	.	PUNCT
fumecheng-13939	530	1	6	6	NUM
fumecheng-13939	530	2	shows	show	VERB
fumecheng-13939	530	3	that	that	SCONJ
fumecheng-13939	530	4	,	,	PUNCT
fumecheng-13939	530	5	at	at	ADP
fumecheng-13939	530	6	35	35	NUM
fumecheng-13939	530	7	seconds	second	NOUN
fumecheng-13939	530	8	,	,	PUNCT
fumecheng-13939	530	9	due	due	ADP
fumecheng-13939	530	10	to	to	ADP
fumecheng-13939	530	11	the	the	DET
fumecheng-13939	530	12	failure	failure	NOUN
fumecheng-13939	530	13	of	of	ADP
fumecheng-13939	530	14	the	the	DET
fumecheng-13939	530	15	rear	rear	ADJ
fumecheng-13939	530	16	motor	motor	NOUN
fumecheng-13939	530	17	by	by	ADP
fumecheng-13939	530	18	10	10	NUM
fumecheng-13939	530	19	%	%	NOUN
fumecheng-13939	530	20	,	,	PUNCT
fumecheng-13939	530	21	the	the	DET
fumecheng-13939	530	22	lift	lift	NOUN
fumecheng-13939	530	23	provided	provide	VERB
fumecheng-13939	530	24	is	be	AUX
fumecheng-13939	530	25	reduced	reduce	VERB
fumecheng-13939	530	26	.	.	PUNCT
fumecheng-13939	531	1	therefore	therefore	ADV
fumecheng-13939	531	2	,	,	PUNCT
fumecheng-13939	531	3	the	the	DET
fumecheng-13939	531	4	height	height	NOUN
fumecheng-13939	531	5	is	be	AUX
fumecheng-13939	531	6	affected	affect	VERB
fumecheng-13939	531	7	and	and	CCONJ
fumecheng-13939	531	8	slightly	slightly	ADV
fumecheng-13939	531	9	reduced	reduce	VERB
fumecheng-13939	531	10	.	.	PUNCT
fumecheng-13939	532	1	but	but	CCONJ
fumecheng-13939	532	2	within	within	ADP
fumecheng-13939	532	3	two	two	NUM
fumecheng-13939	532	4	or	or	CCONJ
fumecheng-13939	532	5	three	three	NUM
fumecheng-13939	532	6	seconds	second	NOUN
fumecheng-13939	532	7	,	,	PUNCT
fumecheng-13939	532	8	the	the	DET
fumecheng-13939	532	9	height	height	NOUN
fumecheng-13939	532	10	is	be	AUX
fumecheng-13939	532	11	adjusted	adjust	VERB
fumecheng-13939	532	12	back	back	ADV
fumecheng-13939	532	13	to	to	ADP
fumecheng-13939	532	14	the	the	DET
fumecheng-13939	532	15	set	set	ADJ
fumecheng-13939	532	16	0.7	0.7	NUM
fumecheng-13939	532	17	meters	meter	NOUN
fumecheng-13939	532	18	,	,	PUNCT
fumecheng-13939	532	19	which	which	PRON
fumecheng-13939	532	20	shows	show	VERB
fumecheng-13939	532	21	the	the	DET
fumecheng-13939	532	22	effectiveness	effectiveness	NOUN
fumecheng-13939	532	23	of	of	ADP
fumecheng-13939	532	24	the	the	DET
fumecheng-13939	532	25	height	height	NOUN
fumecheng-13939	532	26	control	control	NOUN
fumecheng-13939	532	27	method	method	NOUN
fumecheng-13939	532	28	.	.	PUNCT
fumecheng-13939	533	1	fig	fig	NOUN
fumecheng-13939	533	2	.	.	PUNCT
fumecheng-13939	534	1	6	6	NUM
fumecheng-13939	534	2	height	height	NOUN
fumecheng-13939	534	3	tracking	tracking	NOUN
fumecheng-13939	534	4	when	when	SCONJ
fumecheng-13939	534	5	a	a	DET
fumecheng-13939	534	6	single	single	ADJ
fumecheng-13939	534	7	actuator	actuator	NOUN
fumecheng-13939	534	8	fails	fail	VERB
fumecheng-13939	534	9	diagrams	diagram	NOUN
fumecheng-13939	534	10	in	in	ADP
fumecheng-13939	534	11	figs	fig	NOUN
fumecheng-13939	534	12	.	.	PUNCT
fumecheng-13939	535	1	7	7	NUM
fumecheng-13939	535	2	-	-	SYM
fumecheng-13939	535	3	8	8	NUM
fumecheng-13939	535	4	demonstrate	demonstrate	VERB
fumecheng-13939	535	5	that	that	SCONJ
fumecheng-13939	535	6	the	the	DET
fumecheng-13939	535	7	reduced	reduce	VERB
fumecheng-13939	535	8	-	-	PUNCT
fumecheng-13939	535	9	order	order	NOUN
fumecheng-13939	535	10	sliding	slide	VERB
fumecheng-13939	535	11	mode	mode	NOUN
fumecheng-13939	535	12	observer	observer	NOUN
fumecheng-13939	535	13	can	can	AUX
fumecheng-13939	535	14	basically	basically	ADV
fumecheng-13939	535	15	estimate	estimate	VERB
fumecheng-13939	535	16	the	the	DET
fumecheng-13939	535	17	size	size	NOUN
fumecheng-13939	535	18	of	of	ADP
fumecheng-13939	535	19	the	the	DET
fumecheng-13939	535	20	fault	fault	NOUN
fumecheng-13939	535	21	.	.	PUNCT
fumecheng-13939	536	1	but	but	CCONJ
fumecheng-13939	536	2	due	due	ADP
fumecheng-13939	536	3	to	to	ADP
fumecheng-13939	536	4	the	the	DET
fumecheng-13939	536	5	large	large	ADJ
fumecheng-13939	536	6	fluctuation	fluctuation	NOUN
fumecheng-13939	536	7	of	of	ADP
fumecheng-13939	536	8	noise	noise	NOUN
fumecheng-13939	536	9	,	,	PUNCT
fumecheng-13939	536	10	the	the	DET
fumecheng-13939	536	11	observer	observer	NOUN
fumecheng-13939	536	12	estimates	estimate	VERB
fumecheng-13939	536	13	the	the	DET
fumecheng-13939	536	14	fault	fault	NOUN
fumecheng-13939	536	15	quickly	quickly	ADV
fumecheng-13939	536	16	and	and	CCONJ
fumecheng-13939	536	17	can	can	AUX
fumecheng-13939	536	18	quickly	quickly	ADV
fumecheng-13939	536	19	compensate	compensate	VERB
fumecheng-13939	536	20	for	for	ADP
fumecheng-13939	536	21	the	the	DET
fumecheng-13939	536	22	estimated	estimate	VERB
fumecheng-13939	536	23	value	value	NOUN
fumecheng-13939	536	24	into	into	ADP
fumecheng-13939	536	25	the	the	DET
fumecheng-13939	536	26	motor	motor	NOUN
fumecheng-13939	536	27	control	control	NOUN
fumecheng-13939	536	28	instruction	instruction	NOUN
fumecheng-13939	536	29	of	of	ADP
fumecheng-13939	536	30	the	the	DET
fumecheng-13939	536	31	corresponding	corresponding	ADJ
fumecheng-13939	536	32	channel	channel	NOUN
fumecheng-13939	536	33	,	,	PUNCT
fumecheng-13939	536	34	where	where	SCONJ
fumecheng-13939	536	35	the	the	DET
fumecheng-13939	536	36	motor	motor	NOUN
fumecheng-13939	536	37	command	command	NOUN
fumecheng-13939	536	38	ordinate	ordinate	NOUN
fumecheng-13939	536	39	is	be	AUX
fumecheng-13939	536	40	the	the	DET
fumecheng-13939	536	41	percentage	percentage	NOUN
fumecheng-13939	536	42	of	of	ADP
fumecheng-13939	536	43	the	the	DET
fumecheng-13939	536	44	full	full	ADJ
fumecheng-13939	536	45	speed	speed	NOUN
fumecheng-13939	536	46	of	of	ADP
fumecheng-13939	536	47	the	the	DET
fumecheng-13939	536	48	motor	motor	NOUN
fumecheng-13939	536	49	rotor	rotor	NOUN
fumecheng-13939	536	50	.	.	PUNCT
fumecheng-13939	537	1	it	it	PRON
fumecheng-13939	537	2	should	should	AUX
fumecheng-13939	537	3	also	also	ADV
fumecheng-13939	537	4	be	be	AUX
fumecheng-13939	537	5	pointed	point	VERB
fumecheng-13939	537	6	out	out	ADP
fumecheng-13939	537	7	that	that	SCONJ
fumecheng-13939	537	8	in	in	ADP
fumecheng-13939	537	9	figs	fig	NOUN
fumecheng-13939	537	10	.	.	PUNCT
fumecheng-13939	538	1	4	4	NUM
fumecheng-13939	538	2	to	to	PART
fumecheng-13939	538	3	8	8	NUM
fumecheng-13939	538	4	,	,	PUNCT
fumecheng-13939	538	5	approximately	approximately	ADV
fumecheng-13939	538	6	the	the	DET
fumecheng-13939	538	7	first	first	ADJ
fumecheng-13939	538	8	15	15	NUM
fumecheng-13939	538	9	seconds	second	NOUN
fumecheng-13939	538	10	are	be	AUX
fumecheng-13939	538	11	used	use	VERB
fumecheng-13939	538	12	by	by	ADP
fumecheng-13939	538	13	the	the	DET
fumecheng-13939	538	14	uav	uav	PROPN
fumecheng-13939	538	15	to	to	PART
fumecheng-13939	538	16	take	take	VERB
fumecheng-13939	538	17	off	off	ADP
fumecheng-13939	538	18	to	to	ADP
fumecheng-13939	538	19	the	the	DET
fumecheng-13939	538	20	departure	departure	NOUN
fumecheng-13939	538	21	site	site	NOUN
fumecheng-13939	538	22	.	.	PUNCT
fumecheng-13939	539	1	therefore	therefore	ADV
fumecheng-13939	539	2	,	,	PUNCT
fumecheng-13939	539	3	all	all	DET
fumecheng-13939	539	4	angles	angle	NOUN
fumecheng-13939	539	5	are	be	AUX
fumecheng-13939	539	6	still	still	ADV
fumecheng-13939	539	7	adjusted	adjust	VERB
fumecheng-13939	539	8	.	.	PUNCT
fumecheng-13939	540	1	fig	fig	NOUN
fumecheng-13939	540	2	.	.	PUNCT
fumecheng-13939	541	1	7	7	NUM
fumecheng-13939	541	2	fault	fault	NOUN
fumecheng-13939	541	3	estimation	estimation	NOUN
fumecheng-13939	541	4	when	when	SCONJ
fumecheng-13939	541	5	a	a	DET
fumecheng-13939	541	6	single	single	ADJ
fumecheng-13939	541	7	actuator	actuator	NOUN
fumecheng-13939	541	8	fails	fail	VERB
fumecheng-13939	541	9	18	18	NUM
fumecheng-13939	541	10	l.	l.	PROPN
fumecheng-13939	541	11	xu	xu	PROPN
fumecheng-13939	542	1	a	a	PRON
fumecheng-13939	542	2	)	)	PUNCT
fumecheng-13939	542	3	b	b	NOUN
fumecheng-13939	542	4	)	)	PUNCT
fumecheng-13939	542	5	c	c	NOUN
fumecheng-13939	542	6	)	)	PUNCT
fumecheng-13939	542	7	d	d	NOUN
fumecheng-13939	542	8	)	)	PUNCT
fumecheng-13939	542	9	fig	fig	NOUN
fumecheng-13939	542	10	.	.	PUNCT
fumecheng-13939	543	1	8	8	NUM
fumecheng-13939	543	2	actuator	actuator	NOUN
fumecheng-13939	543	3	command	command	NOUN
fumecheng-13939	543	4	when	when	SCONJ
fumecheng-13939	543	5	a	a	DET
fumecheng-13939	543	6	single	single	ADJ
fumecheng-13939	543	7	actuator	actuator	NOUN
fumecheng-13939	543	8	fails	fail	VERB
fumecheng-13939	543	9	:	:	PUNCT
fumecheng-13939	543	10	a	a	X
fumecheng-13939	543	11	)	)	PUNCT
fumecheng-13939	543	12	u1	u1	NOUN
fumecheng-13939	543	13	;	;	PUNCT
fumecheng-13939	543	14	b	b	X
fumecheng-13939	543	15	)	)	PUNCT
fumecheng-13939	543	16	u2	u2	NOUN
fumecheng-13939	543	17	;	;	PUNCT
fumecheng-13939	543	18	c	c	X
fumecheng-13939	543	19	)	)	PUNCT
fumecheng-13939	543	20	u3	u3	NOUN
fumecheng-13939	543	21	;	;	PUNCT
fumecheng-13939	543	22	d	d	X
fumecheng-13939	543	23	)	)	PUNCT
fumecheng-13939	543	24	u4	u4	PROPN
fumecheng-13939	543	25	qbot2	qbot2	PROPN
fumecheng-13939	543	26	-	-	PUNCT
fumecheng-13939	543	27	l	l	NOUN
fumecheng-13939	543	28	and	and	CCONJ
fumecheng-13939	543	29	qbot2	qbot2	PROPN
fumecheng-13939	543	30	-	-	PUNCT
fumecheng-13939	543	31	f	f	PROPN
fumecheng-13939	543	32	are	be	AUX
fumecheng-13939	543	33	two	two	NUM
fumecheng-13939	543	34	ground	ground	NOUN
fumecheng-13939	543	35	-	-	PUNCT
fumecheng-13939	543	36	based	base	VERB
fumecheng-13939	543	37	two	two	NUM
fumecheng-13939	543	38	-	-	PUNCT
fumecheng-13939	543	39	degree	degree	NOUN
fumecheng-13939	543	40	-	-	PUNCT
fumecheng-13939	543	41	of	of	ADP
fumecheng-13939	543	42	-	-	PUNCT
fumecheng-13939	543	43	freedom	freedom	NOUN
fumecheng-13939	543	44	unmanned	unmanned	ADJ
fumecheng-13939	543	45	robots	robot	NOUN
fumecheng-13939	543	46	,	,	PUNCT
fumecheng-13939	543	47	with	with	ADP
fumecheng-13939	543	48	qball	qball	ADV
fumecheng-13939	543	49	-	-	PUNCT
fumecheng-13939	543	50	x4	x4	PROPN
fumecheng-13939	543	51	being	be	AUX
fumecheng-13939	543	52	a	a	DET
fumecheng-13939	543	53	quadrotor	quadrotor	PROPN
fumecheng-13939	543	54	uav	uav	PROPN
fumecheng-13939	543	55	.	.	PUNCT
fumecheng-13939	544	1	qbot2	qbot2	PROPN
fumecheng-13939	544	2	-	-	PUNCT
fumecheng-13939	544	3	l	l	NOUN
fumecheng-13939	544	4	acts	act	VERB
fumecheng-13939	544	5	as	as	ADP
fumecheng-13939	544	6	the	the	DET
fumecheng-13939	544	7	leader	leader	NOUN
fumecheng-13939	544	8	,	,	PUNCT
fumecheng-13939	544	9	while	while	SCONJ
fumecheng-13939	544	10	qbot2	qbot2	PROPN
fumecheng-13939	544	11	-	-	PUNCT
fumecheng-13939	544	12	f	f	PROPN
fumecheng-13939	544	13	and	and	CCONJ
fumecheng-13939	544	14	qball	qball	ADV
fumecheng-13939	544	15	-	-	PUNCT
fumecheng-13939	544	16	x4	x4	PROPN
fumecheng-13939	544	17	serve	serve	NOUN
fumecheng-13939	544	18	as	as	ADP
fumecheng-13939	544	19	wingmen	wingman	NOUN
fumecheng-13939	544	20	,	,	PUNCT
fumecheng-13939	544	21	building	build	VERB
fumecheng-13939	544	22	a	a	DET
fumecheng-13939	544	23	formation	formation	NOUN
fumecheng-13939	544	24	.	.	PUNCT
fumecheng-13939	545	1	fig	fig	NOUN
fumecheng-13939	545	2	.	.	PUNCT
fumecheng-13939	546	1	9	9	NUM
fumecheng-13939	546	2	presents	present	VERB
fumecheng-13939	546	3	top	top	ADJ
fumecheng-13939	546	4	-	-	PUNCT
fumecheng-13939	546	5	down	down	ADP
fumecheng-13939	546	6	views	view	NOUN
fumecheng-13939	546	7	,	,	PUNCT
fumecheng-13939	546	8	which	which	PRON
fumecheng-13939	546	9	are	be	AUX
fumecheng-13939	546	10	the	the	DET
fumecheng-13939	546	11	projection	projection	ADJ
fumecheng-13939	546	12	views	view	NOUN
fumecheng-13939	546	13	of	of	ADP
fumecheng-13939	546	14	the	the	DET
fumecheng-13939	546	15	formation	formation	NOUN
fumecheng-13939	546	16	on	on	ADP
fumecheng-13939	546	17	the	the	DET
fumecheng-13939	546	18	ground	ground	NOUN
fumecheng-13939	546	19	.	.	PUNCT
fumecheng-13939	547	1	the	the	DET
fumecheng-13939	547	2	objective	objective	NOUN
fumecheng-13939	547	3	is	be	AUX
fumecheng-13939	547	4	for	for	SCONJ
fumecheng-13939	547	5	the	the	DET
fumecheng-13939	547	6	wingmen	wingman	NOUN
fumecheng-13939	547	7	to	to	PART
fumecheng-13939	547	8	always	always	ADV
fumecheng-13939	547	9	follow	follow	VERB
fumecheng-13939	547	10	the	the	DET
fumecheng-13939	547	11	leader	leader	NOUN
fumecheng-13939	547	12	,	,	PUNCT
fumecheng-13939	547	13	even	even	ADV
fumecheng-13939	547	14	if	if	SCONJ
fumecheng-13939	547	15	a	a	DET
fumecheng-13939	547	16	malfunction	malfunction	NOUN
fumecheng-13939	547	17	occurs	occur	VERB
fumecheng-13939	547	18	.	.	PUNCT
fumecheng-13939	548	1	in	in	ADP
fumecheng-13939	548	2	fig	fig	NOUN
fumecheng-13939	548	3	.	.	PUNCT
fumecheng-13939	549	1	9	9	NUM
fumecheng-13939	549	2	,	,	PUNCT
fumecheng-13939	549	3	qbot2	qbot2	NOUN
fumecheng-13939	549	4	-	-	PUNCT
fumecheng-13939	549	5	l	l	NOUN
fumecheng-13939	549	6	starts	start	VERB
fumecheng-13939	549	7	from	from	ADP
fumecheng-13939	549	8	(	(	PUNCT
fumecheng-13939	549	9	0,0	0,0	NOUN
fumecheng-13939	549	10	)	)	PUNCT
fumecheng-13939	549	11	with	with	ADP
fumecheng-13939	549	12	a	a	DET
fumecheng-13939	549	13	route	route	NOUN
fumecheng-13939	549	14	of	of	ADP
fumecheng-13939	549	15	(	(	PUNCT
fumecheng-13939	549	16	0.75	0.75	NUM
fumecheng-13939	549	17	,	,	PUNCT
fumecheng-13939	549	18	-0.75	-0.75	NUM
fumecheng-13939	549	19	)	)	PUNCT
fumecheng-13939	549	20	,	,	PUNCT
fumecheng-13939	549	21	(	(	PUNCT
fumecheng-13939	549	22	-0.75	-0.75	NUM
fumecheng-13939	549	23	,	,	PUNCT
fumecheng-13939	549	24	-0.75	-0.75	NUM
fumecheng-13939	549	25	)	)	PUNCT
fumecheng-13939	549	26	,	,	PUNCT
fumecheng-13939	549	27	(	(	PUNCT
fumecheng-13939	549	28	0.75	0.75	NUM
fumecheng-13939	549	29	,	,	PUNCT
fumecheng-13939	549	30	0.75	0.75	NUM
fumecheng-13939	549	31	)	)	PUNCT
fumecheng-13939	549	32	,	,	PUNCT
fumecheng-13939	549	33	and	and	CCONJ
fumecheng-13939	549	34	(	(	PUNCT
fumecheng-13939	549	35	0.75	0.75	NUM
fumecheng-13939	549	36	,	,	PUNCT
fumecheng-13939	549	37	0.75	0.75	NUM
fumecheng-13939	549	38	)	)	PUNCT
fumecheng-13939	549	39	.	.	PUNCT
fumecheng-13939	550	1	meanwhile	meanwhile	ADV
fumecheng-13939	550	2	,	,	PUNCT
fumecheng-13939	550	3	qbot2	qbot2	PROPN
fumecheng-13939	550	4	-	-	PUNCT
fumecheng-13939	550	5	f	f	PROPN
fumecheng-13939	550	6	begins	begin	VERB
fumecheng-13939	550	7	from	from	ADP
fumecheng-13939	550	8	(	(	PUNCT
fumecheng-13939	550	9	0.1	0.1	NUM
fumecheng-13939	550	10	,	,	PUNCT
fumecheng-13939	550	11	1	1	NUM
fumecheng-13939	550	12	)	)	PUNCT
fumecheng-13939	550	13	and	and	CCONJ
fumecheng-13939	550	14	qball	qball	ADV
fumecheng-13939	550	15	-	-	PUNCT
fumecheng-13939	550	16	x4	x4	PROPN
fumecheng-13939	550	17	from	from	ADP
fumecheng-13939	550	18	(	(	PUNCT
fumecheng-13939	550	19	0.8	0.8	NUM
fumecheng-13939	550	20	,	,	PUNCT
fumecheng-13939	550	21	0.45	0.45	NUM
fumecheng-13939	550	22	)	)	PUNCT
fumecheng-13939	550	23	,	,	PUNCT
fumecheng-13939	550	24	both	both	PRON
fumecheng-13939	550	25	following	follow	VERB
fumecheng-13939	550	26	qbot2	qbot2	PROPN
fumecheng-13939	550	27	-	-	PUNCT
fumecheng-13939	550	28	l.	l.	PROPN
fumecheng-13939	550	29	when	when	SCONJ
fumecheng-13939	550	30	qball	qball	NOUN
fumecheng-13939	550	31	-	-	PUNCT
fumecheng-13939	550	32	x4	x4	PROPN
fumecheng-13939	550	33	,	,	PUNCT
fumecheng-13939	550	34	the	the	DET
fumecheng-13939	550	35	uav	uav	PROPN
fumecheng-13939	550	36	,	,	PUNCT
fumecheng-13939	550	37	reaches	reach	VERB
fumecheng-13939	550	38	(	(	PUNCT
fumecheng-13939	550	39	0.3	0.3	NUM
fumecheng-13939	550	40	,	,	PUNCT
fumecheng-13939	550	41	-0.9	-0.9	NOUN
fumecheng-13939	550	42	)	)	PUNCT
fumecheng-13939	550	43	,	,	PUNCT
fumecheng-13939	550	44	its	its	PRON
fumecheng-13939	550	45	motor	motor	NOUN
fumecheng-13939	550	46	u1	u1	NOUN
fumecheng-13939	550	47	malfunctions	malfunction	NOUN
fumecheng-13939	550	48	,	,	PUNCT
fumecheng-13939	550	49	causing	cause	VERB
fumecheng-13939	550	50	it	it	PRON
fumecheng-13939	550	51	to	to	PART
fumecheng-13939	550	52	stray	stray	VERB
fumecheng-13939	550	53	from	from	ADP
fumecheng-13939	550	54	the	the	DET
fumecheng-13939	550	55	formation	formation	NOUN
fumecheng-13939	550	56	.	.	PUNCT
fumecheng-13939	551	1	however	however	ADV
fumecheng-13939	551	2	,	,	PUNCT
fumecheng-13939	551	3	after	after	ADP
fumecheng-13939	551	4	approximately	approximately	ADV
fumecheng-13939	551	5	0.4	0.4	NUM
fumecheng-13939	551	6	meters	meter	NOUN
fumecheng-13939	551	7	,	,	PUNCT
fumecheng-13939	551	8	around	around	ADP
fumecheng-13939	551	9	the	the	DET
fumecheng-13939	551	10	location	location	NOUN
fumecheng-13939	551	11	(	(	PUNCT
fumecheng-13939	551	12	-0.1	-0.1	NOUN
fumecheng-13939	551	13	,	,	PUNCT
fumecheng-13939	551	14	-0.9	-0.9	NOUN
fumecheng-13939	551	15	)	)	PUNCT
fumecheng-13939	551	16	,	,	PUNCT
fumecheng-13939	551	17	it	it	PRON
fumecheng-13939	551	18	resumes	resume	VERB
fumecheng-13939	551	19	its	its	PRON
fumecheng-13939	551	20	tracking	tracking	NOUN
fumecheng-13939	551	21	of	of	ADP
fumecheng-13939	551	22	the	the	DET
fumecheng-13939	551	23	leader	leader	NOUN
fumecheng-13939	551	24	,	,	PUNCT
fumecheng-13939	551	25	qbot2	qbot2	PROPN
fumecheng-13939	551	26	-	-	PUNCT
fumecheng-13939	551	27	l	l	NOUN
fumecheng-13939	551	28	,	,	PUNCT
fumecheng-13939	551	29	to	to	ADP
fumecheng-13939	551	30	the	the	DET
fumecheng-13939	551	31	designated	designate	VERB
fumecheng-13939	551	32	position	position	NOUN
fumecheng-13939	551	33	.	.	PUNCT
fumecheng-13939	552	1	this	this	DET
fumecheng-13939	552	2	scenario	scenario	NOUN
fumecheng-13939	552	3	demonstrates	demonstrate	VERB
fumecheng-13939	552	4	the	the	DET
fumecheng-13939	552	5	effectiveness	effectiveness	NOUN
fumecheng-13939	552	6	of	of	ADP
fumecheng-13939	552	7	the	the	DET
fumecheng-13939	552	8	proposed	propose	VERB
fumecheng-13939	552	9	fault	fault	NOUN
fumecheng-13939	552	10	diagnosis	diagnosis	NOUN
fumecheng-13939	552	11	and	and	CCONJ
fumecheng-13939	552	12	fault	fault	NOUN
fumecheng-13939	552	13	-	-	PUNCT
fumecheng-13939	552	14	tolerant	tolerant	ADJ
fumecheng-13939	552	15	control	control	NOUN
fumecheng-13939	552	16	scheme	scheme	NOUN
fumecheng-13939	552	17	.	.	PUNCT
fumecheng-13939	553	1	the	the	DET
fumecheng-13939	553	2	fault	fault	NOUN
fumecheng-13939	553	3	has	have	VERB
fumecheng-13939	553	4	little	little	ADJ
fumecheng-13939	553	5	impact	impact	NOUN
fumecheng-13939	553	6	on	on	ADP
fumecheng-13939	553	7	the	the	DET
fumecheng-13939	553	8	uavs	uavs	NOUN
fumecheng-13939	553	9	.	.	PUNCT
fumecheng-13939	554	1	after	after	ADP
fumecheng-13939	554	2	about	about	ADV
fumecheng-13939	554	3	0.4	0.4	NUM
fumecheng-13939	554	4	meters	meter	NOUN
fumecheng-13939	554	5	,	,	PUNCT
fumecheng-13939	554	6	uavs	uavs	NOUN
fumecheng-13939	554	7	track	track	VERB
fumecheng-13939	554	8	the	the	DET
fumecheng-13939	554	9	long	long	ADJ
fumecheng-13939	554	10	aircraft	aircraft	NOUN
fumecheng-13939	554	11	to	to	ADP
fumecheng-13939	554	12	the	the	DET
fumecheng-13939	554	13	designated	designate	VERB
fumecheng-13939	554	14	position	position	NOUN
fumecheng-13939	554	15	again	again	ADV
fumecheng-13939	554	16	,	,	PUNCT
fumecheng-13939	554	17	and	and	CCONJ
fumecheng-13939	554	18	the	the	DET
fumecheng-13939	554	19	entire	entire	ADJ
fumecheng-13939	554	20	formation	formation	NOUN
fumecheng-13939	554	21	is	be	AUX
fumecheng-13939	554	22	still	still	ADV
fumecheng-13939	554	23	stable	stable	ADJ
fumecheng-13939	554	24	,	,	PUNCT
fumecheng-13939	554	25	which	which	PRON
fumecheng-13939	554	26	shows	show	VERB
fumecheng-13939	554	27	the	the	DET
fumecheng-13939	554	28	effectiveness	effectiveness	NOUN
fumecheng-13939	554	29	and	and	CCONJ
fumecheng-13939	554	30	practical	practical	ADJ
fumecheng-13939	554	31	application	application	NOUN
fumecheng-13939	554	32	value	value	NOUN
fumecheng-13939	554	33	of	of	ADP
fumecheng-13939	554	34	the	the	DET
fumecheng-13939	554	35	fault	fault	NOUN
fumecheng-13939	554	36	diagnosis	diagnosis	NOUN
fumecheng-13939	554	37	and	and	CCONJ
fumecheng-13939	554	38	the	the	DET
fumecheng-13939	554	39	fault	fault	NOUN
fumecheng-13939	554	40	-	-	PUNCT
fumecheng-13939	554	41	tolerant	tolerant	ADJ
fumecheng-13939	554	42	control	control	NOUN
fumecheng-13939	554	43	scheme	scheme	NOUN
fumecheng-13939	554	44	designed	design	VERB
fumecheng-13939	554	45	in	in	ADP
fumecheng-13939	554	46	this	this	DET
fumecheng-13939	554	47	topic	topic	NOUN
fumecheng-13939	554	48	.	.	PUNCT
fumecheng-13939	555	1	fault	fault	NOUN
fumecheng-13939	555	2	-	-	PUNCT
fumecheng-13939	555	3	tolerant	tolerant	ADJ
fumecheng-13939	555	4	control	control	NOUN
fumecheng-13939	555	5	of	of	ADP
fumecheng-13939	555	6	low	low	ADJ
fumecheng-13939	555	7	-	-	PUNCT
fumecheng-13939	555	8	altitude	altitude	NOUN
fumecheng-13939	555	9	unmanned	unmanned	ADJ
fumecheng-13939	555	10	aerial	aerial	ADJ
fumecheng-13939	555	11	vehicle	vehicle	NOUN
fumecheng-13939	555	12	swarms	swarm	NOUN
fumecheng-13939	555	13	using	use	VERB
fumecheng-13939	555	14	...	...	PUNCT
fumecheng-13939	555	15	19	19	NUM
fumecheng-13939	555	16	fig	fig	NOUN
fumecheng-13939	555	17	.	.	PUNCT
fumecheng-13939	556	1	9	9	NUM
fumecheng-13939	556	2	top	top	ADJ
fumecheng-13939	556	3	view	view	NOUN
fumecheng-13939	556	4	trajectory	trajectory	NOUN
fumecheng-13939	556	5	when	when	SCONJ
fumecheng-13939	556	6	a	a	DET
fumecheng-13939	556	7	single	single	ADJ
fumecheng-13939	556	8	actuator	actuator	NOUN
fumecheng-13939	556	9	fails	fail	VERB
fumecheng-13939	556	10	4.2	4.2	NUM
fumecheng-13939	556	11	failure	failure	NOUN
fumecheng-13939	556	12	of	of	ADP
fumecheng-13939	556	13	two	two	NUM
fumecheng-13939	556	14	actuators	actuator	NOUN
fumecheng-13939	556	15	on	on	ADP
fumecheng-13939	556	16	the	the	DET
fumecheng-13939	556	17	basis	basis	NOUN
fumecheng-13939	556	18	of	of	ADP
fumecheng-13939	556	19	the	the	DET
fumecheng-13939	556	20	original	original	ADJ
fumecheng-13939	556	21	rear	rear	ADJ
fumecheng-13939	556	22	motor	motor	NOUN
fumecheng-13939	556	23	failure	failure	NOUN
fumecheng-13939	556	24	,	,	PUNCT
fumecheng-13939	556	25	the	the	DET
fumecheng-13939	556	26	right	right	ADJ
fumecheng-13939	556	27	motor	motor	NOUN
fumecheng-13939	556	28	in	in	ADP
fumecheng-13939	556	29	the	the	DET
fumecheng-13939	556	30	asymmetrical	asymmetrical	ADJ
fumecheng-13939	556	31	position	position	NOUN
fumecheng-13939	556	32	also	also	ADV
fumecheng-13939	556	33	fails	fail	VERB
fumecheng-13939	556	34	at	at	ADP
fumecheng-13939	556	35	49	49	NUM
fumecheng-13939	556	36	seconds	second	NOUN
fumecheng-13939	556	37	,	,	PUNCT
fumecheng-13939	556	38	and	and	CCONJ
fumecheng-13939	556	39	the	the	DET
fumecheng-13939	556	40	fault	fault	NOUN
fumecheng-13939	556	41	form	form	NOUN
fumecheng-13939	556	42	is	be	AUX
fumecheng-13939	556	43	u4	u4	PROPN
fumecheng-13939	556	44	f	f	PROPN
fumecheng-13939	556	45			PROPN
fumecheng-13939	556	46	105%*u4	105%*u4	NUM
fumecheng-13939	556	47	,	,	PUNCT
fumecheng-13939	556	48	and	and	CCONJ
fumecheng-13939	556	49	the	the	DET
fumecheng-13939	556	50	specific	specific	ADJ
fumecheng-13939	556	51	experimental	experimental	ADJ
fumecheng-13939	556	52	results	result	NOUN
fumecheng-13939	556	53	are	be	AUX
fumecheng-13939	556	54	shown	show	VERB
fumecheng-13939	556	55	below	below	ADP
fumecheng-13939	556	56	.	.	PUNCT
fumecheng-13939	557	1	as	as	SCONJ
fumecheng-13939	557	2	can	can	AUX
fumecheng-13939	557	3	be	be	AUX
fumecheng-13939	557	4	seen	see	VERB
fumecheng-13939	557	5	from	from	ADP
fumecheng-13939	557	6	figs	fig	NOUN
fumecheng-13939	557	7	.	.	PUNCT
fumecheng-13939	558	1	10	10	NUM
fumecheng-13939	558	2	-	-	SYM
fumecheng-13939	558	3	11	11	NUM
fumecheng-13939	558	4	,	,	PUNCT
fumecheng-13939	558	5	the	the	DET
fumecheng-13939	558	6	pitch	pitch	NOUN
fumecheng-13939	558	7	angle	angle	NOUN
fumecheng-13939	558	8	at	at	ADP
fumecheng-13939	558	9	35	35	NUM
fumecheng-13939	558	10	seconds	second	NOUN
fumecheng-13939	558	11	is	be	AUX
fumecheng-13939	558	12	similar	similar	ADJ
fumecheng-13939	558	13	to	to	ADP
fumecheng-13939	558	14	that	that	PRON
fumecheng-13939	558	15	of	of	ADP
fumecheng-13939	558	16	a	a	DET
fumecheng-13939	558	17	single	single	ADJ
fumecheng-13939	558	18	fault	fault	NOUN
fumecheng-13939	558	19	in	in	ADP
fumecheng-13939	558	20	fig	fig	NOUN
fumecheng-13939	558	21	.	.	PUNCT
fumecheng-13939	559	1	5	5	NUM
fumecheng-13939	559	2	,	,	PUNCT
fumecheng-13939	559	3	and	and	CCONJ
fumecheng-13939	559	4	the	the	DET
fumecheng-13939	559	5	pitch	pitch	NOUN
fumecheng-13939	559	6	angle	angle	PROPN
fumecheng-13939	559	7	control	control	PROPN
fumecheng-13939	559	8	command	command	NOUN
fumecheng-13939	559	9	changes	change	NOUN
fumecheng-13939	559	10	only	only	ADV
fumecheng-13939	559	11	briefly	briefly	ADV
fumecheng-13939	559	12	at	at	ADP
fumecheng-13939	559	13	49	49	NUM
fumecheng-13939	559	14	seconds	second	NOUN
fumecheng-13939	559	15	.	.	PUNCT
fumecheng-13939	560	1	at	at	ADP
fumecheng-13939	560	2	49	49	NUM
fumecheng-13939	560	3	seconds	second	NOUN
fumecheng-13939	560	4	,	,	PUNCT
fumecheng-13939	560	5	the	the	DET
fumecheng-13939	560	6	roll	roll	NOUN
fumecheng-13939	560	7	angle	angle	NOUN
fumecheng-13939	560	8	decreases	decrease	NOUN
fumecheng-13939	560	9	because	because	SCONJ
fumecheng-13939	560	10	the	the	DET
fumecheng-13939	560	11	output	output	NOUN
fumecheng-13939	560	12	of	of	ADP
fumecheng-13939	560	13	the	the	DET
fumecheng-13939	560	14	right	right	ADJ
fumecheng-13939	560	15	motor	motor	NOUN
fumecheng-13939	560	16	suddenly	suddenly	ADV
fumecheng-13939	560	17	becomes	become	VERB
fumecheng-13939	560	18	larger	large	ADJ
fumecheng-13939	560	19	and	and	CCONJ
fumecheng-13939	560	20	the	the	DET
fumecheng-13939	560	21	right	right	ADJ
fumecheng-13939	560	22	motor	motor	NOUN
fumecheng-13939	560	23	is	be	AUX
fumecheng-13939	560	24	in	in	ADP
fumecheng-13939	560	25	the	the	DET
fumecheng-13939	560	26	negative	negative	ADJ
fumecheng-13939	560	27	direction	direction	NOUN
fumecheng-13939	560	28	of	of	ADP
fumecheng-13939	560	29	the	the	DET
fumecheng-13939	560	30	x	x	NOUN
fumecheng-13939	560	31	-	-	NOUN
fumecheng-13939	560	32	axis	axis	NOUN
fumecheng-13939	560	33	.	.	PUNCT
fumecheng-13939	561	1	therefore	therefore	ADV
fumecheng-13939	561	2	,	,	PUNCT
fumecheng-13939	561	3	the	the	DET
fumecheng-13939	561	4	roll	roll	NOUN
fumecheng-13939	561	5	angle	angle	NOUN
fumecheng-13939	561	6	decreases	decrease	NOUN
fumecheng-13939	561	7	and	and	CCONJ
fumecheng-13939	561	8	the	the	DET
fumecheng-13939	561	9	roll	roll	NOUN
fumecheng-13939	561	10	angle	angle	NOUN
fumecheng-13939	561	11	control	control	NOUN
fumecheng-13939	561	12	command	command	NOUN
fumecheng-13939	561	13	increases	increase	VERB
fumecheng-13939	561	14	rapidly	rapidly	ADV
fumecheng-13939	561	15	.	.	PUNCT
fumecheng-13939	562	1	fig	fig	NOUN
fumecheng-13939	562	2	.	.	PUNCT
fumecheng-13939	563	1	10	10	NUM
fumecheng-13939	563	2	pitch	pitch	NOUN
fumecheng-13939	563	3	angle	angle	NOUN
fumecheng-13939	563	4	tracking	tracking	NOUN
fumecheng-13939	563	5	when	when	SCONJ
fumecheng-13939	563	6	two	two	NUM
fumecheng-13939	563	7	actuators	actuator	NOUN
fumecheng-13939	563	8	fail	fail	VERB
fumecheng-13939	563	9	20	20	NUM
fumecheng-13939	563	10	l.	l.	PROPN
fumecheng-13939	563	11	xu	xu	PROPN
fumecheng-13939	563	12	fig	fig	PROPN
fumecheng-13939	563	13	.	.	PUNCT
fumecheng-13939	564	1	11	11	NUM
fumecheng-13939	564	2	roll	roll	NOUN
fumecheng-13939	564	3	angle	angle	NOUN
fumecheng-13939	564	4	tracking	tracking	NOUN
fumecheng-13939	564	5	when	when	SCONJ
fumecheng-13939	564	6	two	two	NUM
fumecheng-13939	564	7	actuators	actuator	NOUN
fumecheng-13939	564	8	fail	fail	VERB
fumecheng-13939	564	9	in	in	ADP
fumecheng-13939	564	10	fig	fig	NOUN
fumecheng-13939	564	11	.	.	PUNCT
fumecheng-13939	565	1	12	12	NUM
fumecheng-13939	565	2	,	,	PUNCT
fumecheng-13939	565	3	the	the	DET
fumecheng-13939	565	4	height	height	NOUN
fumecheng-13939	565	5	decreases	decrease	VERB
fumecheng-13939	565	6	slightly	slightly	ADV
fumecheng-13939	565	7	at	at	ADP
fumecheng-13939	565	8	35	35	NUM
fumecheng-13939	565	9	seconds	second	NOUN
fumecheng-13939	565	10	and	and	CCONJ
fumecheng-13939	565	11	increases	increase	VERB
fumecheng-13939	565	12	slightly	slightly	ADV
fumecheng-13939	565	13	at	at	ADP
fumecheng-13939	565	14	49	49	NUM
fumecheng-13939	565	15	seconds	second	NOUN
fumecheng-13939	565	16	,	,	PUNCT
fumecheng-13939	565	17	but	but	CCONJ
fumecheng-13939	565	18	both	both	PRON
fumecheng-13939	565	19	quickly	quickly	ADV
fumecheng-13939	565	20	adjust	adjust	VERB
fumecheng-13939	565	21	back	back	ADV
fumecheng-13939	565	22	to	to	ADP
fumecheng-13939	565	23	0.7	0.7	NUM
fumecheng-13939	565	24	meters	meter	NOUN
fumecheng-13939	565	25	,	,	PUNCT
fumecheng-13939	565	26	showing	show	VERB
fumecheng-13939	565	27	that	that	SCONJ
fumecheng-13939	565	28	the	the	DET
fumecheng-13939	565	29	control	control	NOUN
fumecheng-13939	565	30	is	be	AUX
fumecheng-13939	565	31	still	still	ADV
fumecheng-13939	565	32	ideal	ideal	ADJ
fumecheng-13939	565	33	in	in	ADP
fumecheng-13939	565	34	the	the	DET
fumecheng-13939	565	35	event	event	NOUN
fumecheng-13939	565	36	of	of	ADP
fumecheng-13939	565	37	actuator	actuator	NOUN
fumecheng-13939	565	38	failure	failure	NOUN
fumecheng-13939	565	39	of	of	ADP
fumecheng-13939	565	40	the	the	DET
fumecheng-13939	565	41	motor	motor	NOUN
fumecheng-13939	565	42	in	in	ADP
fumecheng-13939	565	43	two	two	NUM
fumecheng-13939	565	44	asymmetrical	asymmetrical	ADJ
fumecheng-13939	565	45	positions	position	NOUN
fumecheng-13939	565	46	.	.	PUNCT
fumecheng-13939	566	1	fig	fig	NOUN
fumecheng-13939	566	2	.	.	PUNCT
fumecheng-13939	567	1	12	12	NUM
fumecheng-13939	567	2	height	height	NOUN
fumecheng-13939	567	3	tracking	tracking	NOUN
fumecheng-13939	567	4	when	when	SCONJ
fumecheng-13939	567	5	two	two	NUM
fumecheng-13939	567	6	actuators	actuator	NOUN
fumecheng-13939	567	7	fail	fail	VERB
fumecheng-13939	567	8	it	it	PRON
fumecheng-13939	567	9	can	can	AUX
fumecheng-13939	567	10	be	be	AUX
fumecheng-13939	567	11	seen	see	VERB
fumecheng-13939	567	12	from	from	ADP
fumecheng-13939	567	13	figs	fig	NOUN
fumecheng-13939	567	14	.	.	PUNCT
fumecheng-13939	568	1	13	13	NUM
fumecheng-13939	568	2	-	-	SYM
fumecheng-13939	568	3	14	14	NUM
fumecheng-13939	568	4	that	that	SCONJ
fumecheng-13939	568	5	the	the	DET
fumecheng-13939	568	6	adaptive	adaptive	ADJ
fumecheng-13939	568	7	sliding	slide	VERB
fumecheng-13939	568	8	mode	mode	NOUN
fumecheng-13939	568	9	observer	observer	NOUN
fumecheng-13939	568	10	can	can	AUX
fumecheng-13939	568	11	do	do	AUX
fumecheng-13939	568	12	better	well	ADV
fumecheng-13939	568	13	fault	fault	VERB
fumecheng-13939	568	14	estimation	estimation	NOUN
fumecheng-13939	568	15	for	for	ADP
fumecheng-13939	568	16	both	both	DET
fumecheng-13939	568	17	faults	fault	NOUN
fumecheng-13939	568	18	.	.	PUNCT
fumecheng-13939	569	1	however	however	ADV
fumecheng-13939	569	2	,	,	PUNCT
fumecheng-13939	569	3	compared	compare	VERB
fumecheng-13939	569	4	with	with	ADP
fumecheng-13939	569	5	the	the	DET
fumecheng-13939	569	6	situation	situation	NOUN
fumecheng-13939	569	7	of	of	ADP
fumecheng-13939	569	8	a	a	DET
fumecheng-13939	569	9	single	single	ADJ
fumecheng-13939	569	10	motor	motor	NOUN
fumecheng-13939	569	11	failure	failure	NOUN
fumecheng-13939	569	12	,	,	PUNCT
fumecheng-13939	569	13	the	the	DET
fumecheng-13939	569	14	effect	effect	NOUN
fumecheng-13939	569	15	of	of	ADP
fumecheng-13939	569	16	fault	fault	NOUN
fumecheng-13939	569	17	estimation	estimation	NOUN
fumecheng-13939	569	18	is	be	AUX
fumecheng-13939	569	19	slightly	slightly	ADV
fumecheng-13939	569	20	reduced	reduce	VERB
fumecheng-13939	569	21	,	,	PUNCT
fumecheng-13939	569	22	and	and	CCONJ
fumecheng-13939	569	23	the	the	DET
fumecheng-13939	569	24	control	control	NOUN
fumecheng-13939	569	25	instructions	instruction	NOUN
fumecheng-13939	569	26	of	of	ADP
fumecheng-13939	569	27	the	the	DET
fumecheng-13939	569	28	corresponding	correspond	VERB
fumecheng-13939	569	29	two	two	NUM
fumecheng-13939	569	30	motors	motor	NOUN
fumecheng-13939	569	31	are	be	AUX
fumecheng-13939	569	32	slightly	slightly	ADV
fumecheng-13939	569	33	slowed	slow	VERB
fumecheng-13939	569	34	down	down	ADP
fumecheng-13939	569	35	when	when	SCONJ
fumecheng-13939	569	36	compensating	compensate	VERB
fumecheng-13939	569	37	for	for	ADP
fumecheng-13939	569	38	the	the	DET
fumecheng-13939	569	39	fault	fault	NOUN
fumecheng-13939	569	40	,	,	PUNCT
fumecheng-13939	569	41	but	but	CCONJ
fumecheng-13939	569	42	this	this	PRON
fumecheng-13939	569	43	is	be	AUX
fumecheng-13939	569	44	also	also	ADV
fumecheng-13939	569	45	related	relate	VERB
fumecheng-13939	569	46	to	to	ADP
fumecheng-13939	569	47	factors	factor	NOUN
fumecheng-13939	569	48	such	such	ADJ
fumecheng-13939	569	49	as	as	ADP
fumecheng-13939	569	50	battery	battery	NOUN
fumecheng-13939	569	51	voltage	voltage	NOUN
fumecheng-13939	569	52	during	during	ADP
fumecheng-13939	569	53	the	the	DET
fumecheng-13939	569	54	experiment	experiment	NOUN
fumecheng-13939	569	55	.	.	PUNCT
fumecheng-13939	570	1	overall	overall	ADV
fumecheng-13939	570	2	,	,	PUNCT
fumecheng-13939	570	3	the	the	DET
fumecheng-13939	570	4	fault	fault	NOUN
fumecheng-13939	570	5	-	-	PUNCT
fumecheng-13939	570	6	tolerant	tolerant	ADJ
fumecheng-13939	570	7	controller	controller	NOUN
fumecheng-13939	570	8	and	and	CCONJ
fumecheng-13939	570	9	the	the	DET
fumecheng-13939	570	10	adaptive	adaptive	ADJ
fumecheng-13939	570	11	sliding	slide	VERB
fumecheng-13939	570	12	mode	mode	NOUN
fumecheng-13939	570	13	observer	observer	NOUN
fumecheng-13939	570	14	reach	reach	VERB
fumecheng-13939	570	15	the	the	DET
fumecheng-13939	570	16	pre	pre	NOUN
fumecheng-13939	570	17	-	-	NOUN
fumecheng-13939	570	18	target	target	NOUN
fumecheng-13939	570	19	,	,	PUNCT
fumecheng-13939	570	20	which	which	PRON
fumecheng-13939	570	21	shows	show	VERB
fumecheng-13939	570	22	that	that	SCONJ
fumecheng-13939	570	23	the	the	DET
fumecheng-13939	570	24	fault	fault	NOUN
fumecheng-13939	570	25	diagnosis	diagnosis	NOUN
fumecheng-13939	570	26	scheme	scheme	NOUN
fumecheng-13939	570	27	is	be	AUX
fumecheng-13939	570	28	still	still	ADV
fumecheng-13939	570	29	ideal	ideal	ADJ
fumecheng-13939	570	30	in	in	ADP
fumecheng-13939	570	31	dealing	deal	VERB
fumecheng-13939	570	32	with	with	ADP
fumecheng-13939	570	33	multiple	multiple	ADJ
fumecheng-13939	570	34	faults	fault	NOUN
fumecheng-13939	570	35	.	.	PUNCT
fumecheng-13939	571	1	fault	fault	NOUN
fumecheng-13939	571	2	-	-	PUNCT
fumecheng-13939	571	3	tolerant	tolerant	ADJ
fumecheng-13939	571	4	control	control	NOUN
fumecheng-13939	571	5	of	of	ADP
fumecheng-13939	571	6	low	low	ADJ
fumecheng-13939	571	7	-	-	PUNCT
fumecheng-13939	571	8	altitude	altitude	NOUN
fumecheng-13939	571	9	unmanned	unmanned	ADJ
fumecheng-13939	571	10	aerial	aerial	ADJ
fumecheng-13939	571	11	vehicle	vehicle	NOUN
fumecheng-13939	571	12	swarms	swarm	NOUN
fumecheng-13939	571	13	using	use	VERB
fumecheng-13939	571	14	...	...	PUNCT
fumecheng-13939	571	15	21	21	NUM
fumecheng-13939	571	16	a	a	DET
fumecheng-13939	571	17	)	)	PUNCT
fumecheng-13939	571	18	b	b	NOUN
fumecheng-13939	571	19	)	)	PUNCT
fumecheng-13939	571	20	fig	fig	NOUN
fumecheng-13939	571	21	.	.	PUNCT
fumecheng-13939	572	1	13	13	NUM
fumecheng-13939	572	2	fault	fault	NOUN
fumecheng-13939	572	3	estimation	estimation	NOUN
fumecheng-13939	572	4	when	when	SCONJ
fumecheng-13939	572	5	two	two	NUM
fumecheng-13939	572	6	actuators	actuator	NOUN
fumecheng-13939	572	7	fail	fail	VERB
fumecheng-13939	572	8	:	:	PUNCT
fumecheng-13939	572	9	a	a	X
fumecheng-13939	572	10	)	)	PUNCT
fumecheng-13939	572	11	u2	u2	NOUN
fumecheng-13939	572	12	;	;	PUNCT
fumecheng-13939	572	13	b	b	X
fumecheng-13939	572	14	)	)	PUNCT
fumecheng-13939	572	15	u4	u4	PROPN
fumecheng-13939	572	16	a	a	NOUN
fumecheng-13939	572	17	)	)	PUNCT
fumecheng-13939	572	18	b	b	NOUN
fumecheng-13939	572	19	)	)	PUNCT
fumecheng-13939	572	20	c	c	NOUN
fumecheng-13939	572	21	)	)	PUNCT
fumecheng-13939	572	22	d	d	NOUN
fumecheng-13939	572	23	)	)	PUNCT
fumecheng-13939	572	24	fig	fig	NOUN
fumecheng-13939	572	25	.	.	PUNCT
fumecheng-13939	573	1	14	14	NUM
fumecheng-13939	573	2	actuator	actuator	NOUN
fumecheng-13939	573	3	commands	command	NOUN
fumecheng-13939	573	4	when	when	SCONJ
fumecheng-13939	573	5	two	two	NUM
fumecheng-13939	573	6	actuators	actuator	NOUN
fumecheng-13939	573	7	fail	fail	VERB
fumecheng-13939	573	8	:	:	PUNCT
fumecheng-13939	573	9	a	a	X
fumecheng-13939	573	10	)	)	PUNCT
fumecheng-13939	573	11	u1	u1	NOUN
fumecheng-13939	573	12	;	;	PUNCT
fumecheng-13939	573	13	b	b	X
fumecheng-13939	573	14	)	)	PUNCT
fumecheng-13939	573	15	u2	u2	NOUN
fumecheng-13939	573	16	;	;	PUNCT
fumecheng-13939	573	17	c	c	X
fumecheng-13939	573	18	)	)	PUNCT
fumecheng-13939	573	19	u3	u3	NOUN
fumecheng-13939	573	20	;	;	PUNCT
fumecheng-13939	573	21	d	d	X
fumecheng-13939	573	22	)	)	PUNCT
fumecheng-13939	573	23	u4	u4	PROPN
fumecheng-13939	573	24	qbot2	qbot2	PROPN
fumecheng-13939	573	25	-	-	PUNCT
fumecheng-13939	573	26	l	l	NOUN
fumecheng-13939	573	27	acts	act	NOUN
fumecheng-13939	573	28	as	as	ADP
fumecheng-13939	573	29	the	the	DET
fumecheng-13939	573	30	leader	leader	NOUN
fumecheng-13939	573	31	,	,	PUNCT
fumecheng-13939	573	32	while	while	SCONJ
fumecheng-13939	573	33	qbot2	qbot2	PROPN
fumecheng-13939	573	34	-	-	PUNCT
fumecheng-13939	573	35	f	f	PROPN
fumecheng-13939	573	36	and	and	CCONJ
fumecheng-13939	573	37	qball	qball	ADV
fumecheng-13939	573	38	-	-	PUNCT
fumecheng-13939	573	39	x4	x4	PROPN
fumecheng-13939	573	40	serve	serve	NOUN
fumecheng-13939	573	41	as	as	ADP
fumecheng-13939	573	42	wingmen	wingman	NOUN
fumecheng-13939	573	43	,	,	PUNCT
fumecheng-13939	573	44	forming	form	VERB
fumecheng-13939	573	45	a	a	DET
fumecheng-13939	573	46	formation	formation	NOUN
fumecheng-13939	573	47	.	.	PUNCT
fumecheng-13939	574	1	fig	fig	NOUN
fumecheng-13939	574	2	.	.	PUNCT
fumecheng-13939	575	1	15	15	NUM
fumecheng-13939	575	2	presents	present	VERB
fumecheng-13939	575	3	top	top	ADJ
fumecheng-13939	575	4	-	-	PUNCT
fumecheng-13939	575	5	down	down	ADP
fumecheng-13939	575	6	views	view	NOUN
fumecheng-13939	575	7	,	,	PUNCT
fumecheng-13939	575	8	which	which	PRON
fumecheng-13939	575	9	are	be	AUX
fumecheng-13939	575	10	the	the	DET
fumecheng-13939	575	11	projection	projection	ADJ
fumecheng-13939	575	12	views	view	NOUN
fumecheng-13939	575	13	of	of	ADP
fumecheng-13939	575	14	the	the	DET
fumecheng-13939	575	15	formation	formation	NOUN
fumecheng-13939	575	16	on	on	ADP
fumecheng-13939	575	17	the	the	DET
fumecheng-13939	575	18	ground	ground	NOUN
fumecheng-13939	575	19	.	.	PUNCT
fumecheng-13939	576	1	the	the	DET
fumecheng-13939	576	2	objective	objective	NOUN
fumecheng-13939	576	3	is	be	AUX
fumecheng-13939	576	4	for	for	SCONJ
fumecheng-13939	576	5	the	the	DET
fumecheng-13939	576	6	wingmen	wingman	NOUN
fumecheng-13939	576	7	to	to	PART
fumecheng-13939	576	8	always	always	ADV
fumecheng-13939	576	9	follow	follow	VERB
fumecheng-13939	576	10	the	the	DET
fumecheng-13939	576	11	leader	leader	NOUN
fumecheng-13939	576	12	,	,	PUNCT
fumecheng-13939	576	13	22	22	NUM
fumecheng-13939	576	14	l.	l.	PROPN
fumecheng-13939	576	15	xu	xu	PROPN
fumecheng-13939	577	1	even	even	ADV
fumecheng-13939	577	2	if	if	SCONJ
fumecheng-13939	577	3	a	a	DET
fumecheng-13939	577	4	malfunction	malfunction	NOUN
fumecheng-13939	577	5	occurs	occur	VERB
fumecheng-13939	577	6	.	.	PUNCT
fumecheng-13939	578	1	in	in	ADP
fumecheng-13939	578	2	fig	fig	NOUN
fumecheng-13939	578	3	.	.	PUNCT
fumecheng-13939	579	1	15	15	NUM
fumecheng-13939	579	2	,	,	PUNCT
fumecheng-13939	579	3	qbot2	qbot2	NOUN
fumecheng-13939	579	4	-	-	PUNCT
fumecheng-13939	579	5	l	l	NOUN
fumecheng-13939	579	6	starts	start	VERB
fumecheng-13939	579	7	from	from	ADP
fumecheng-13939	579	8	(	(	PUNCT
fumecheng-13939	579	9	0	0	NUM
fumecheng-13939	579	10	,	,	PUNCT
fumecheng-13939	579	11	0	0	NUM
fumecheng-13939	579	12	)	)	PUNCT
fumecheng-13939	579	13	with	with	ADP
fumecheng-13939	579	14	the	the	DET
fumecheng-13939	579	15	same	same	ADJ
fumecheng-13939	579	16	route	route	NOUN
fumecheng-13939	579	17	as	as	ADP
fumecheng-13939	579	18	in	in	ADP
fumecheng-13939	579	19	fig	fig	NOUN
fumecheng-13939	579	20	.	.	PUNCT
fumecheng-13939	580	1	9	9	X
fumecheng-13939	580	2	.	.	X
fumecheng-13939	581	1	meanwhile	meanwhile	ADV
fumecheng-13939	581	2	,	,	PUNCT
fumecheng-13939	581	3	qbot2	qbot2	PROPN
fumecheng-13939	581	4	-	-	PUNCT
fumecheng-13939	581	5	f	f	PROPN
fumecheng-13939	581	6	begins	begin	VERB
fumecheng-13939	581	7	from	from	ADP
fumecheng-13939	581	8	(	(	PUNCT
fumecheng-13939	581	9	-0.5	-0.5	NUM
fumecheng-13939	581	10	,	,	PUNCT
fumecheng-13939	581	11	0.7	0.7	NUM
fumecheng-13939	581	12	)	)	PUNCT
fumecheng-13939	581	13	and	and	CCONJ
fumecheng-13939	581	14	qball	qball	ADV
fumecheng-13939	581	15	-	-	PUNCT
fumecheng-13939	581	16	x4	x4	PROPN
fumecheng-13939	581	17	from	from	ADP
fumecheng-13939	581	18	(	(	PUNCT
fumecheng-13939	581	19	-0.4	-0.4	NOUN
fumecheng-13939	581	20	,	,	PUNCT
fumecheng-13939	581	21	0	0	NUM
fumecheng-13939	581	22	)	)	PUNCT
fumecheng-13939	581	23	,	,	PUNCT
fumecheng-13939	581	24	both	both	PRON
fumecheng-13939	581	25	following	follow	VERB
fumecheng-13939	581	26	qbot2	qbot2	PROPN
fumecheng-13939	581	27	-	-	PUNCT
fumecheng-13939	581	28	l.	l.	PROPN
fumecheng-13939	581	29	it	it	PRON
fumecheng-13939	581	30	can	can	AUX
fumecheng-13939	581	31	be	be	AUX
fumecheng-13939	581	32	observed	observe	VERB
fumecheng-13939	581	33	that	that	SCONJ
fumecheng-13939	581	34	the	the	DET
fumecheng-13939	581	35	u1	u1	NOUN
fumecheng-13939	581	36	failure	failure	NOUN
fumecheng-13939	581	37	occurs	occur	VERB
fumecheng-13939	581	38	at	at	ADP
fumecheng-13939	581	39	point	point	NOUN
fumecheng-13939	581	40	(	(	PUNCT
fumecheng-13939	581	41	0.2	0.2	NUM
fumecheng-13939	581	42	,	,	PUNCT
fumecheng-13939	581	43	-1	-1	ADJ
fumecheng-13939	581	44	)	)	PUNCT
fumecheng-13939	581	45	,	,	PUNCT
fumecheng-13939	581	46	and	and	CCONJ
fumecheng-13939	581	47	the	the	DET
fumecheng-13939	581	48	u4	u4	PROPN
fumecheng-13939	581	49	failure	failure	NOUN
fumecheng-13939	581	50	occurs	occur	VERB
fumecheng-13939	581	51	at	at	ADP
fumecheng-13939	581	52	point	point	NOUN
fumecheng-13939	581	53	(	(	PUNCT
fumecheng-13939	581	54	-0.7	-0.7	NOUN
fumecheng-13939	581	55	,	,	PUNCT
fumecheng-13939	581	56	-0.6	-0.6	NOUN
fumecheng-13939	581	57	)	)	PUNCT
fumecheng-13939	581	58	.	.	PUNCT
fumecheng-13939	582	1	furthermore	furthermore	ADV
fumecheng-13939	582	2	,	,	PUNCT
fumecheng-13939	582	3	both	both	DET
fumecheng-13939	582	4	failures	failure	NOUN
fumecheng-13939	582	5	occur	occur	VERB
fumecheng-13939	582	6	simultaneously	simultaneously	ADV
fumecheng-13939	582	7	.	.	PUNCT
fumecheng-13939	583	1	it	it	PRON
fumecheng-13939	583	2	is	be	AUX
fumecheng-13939	583	3	evident	evident	ADJ
fumecheng-13939	583	4	that	that	SCONJ
fumecheng-13939	583	5	the	the	DET
fumecheng-13939	583	6	flight	flight	NOUN
fumecheng-13939	583	7	quality	quality	NOUN
fumecheng-13939	583	8	of	of	ADP
fumecheng-13939	583	9	the	the	DET
fumecheng-13939	583	10	uavs	uavs	NOUN
fumecheng-13939	583	11	decreases	decrease	VERB
fumecheng-13939	583	12	.	.	PUNCT
fumecheng-13939	584	1	due	due	ADP
fumecheng-13939	584	2	to	to	ADP
fumecheng-13939	584	3	the	the	DET
fumecheng-13939	584	4	adoption	adoption	NOUN
fumecheng-13939	584	5	of	of	ADP
fumecheng-13939	584	6	the	the	DET
fumecheng-13939	584	7	directed	direct	VERB
fumecheng-13939	584	8	graph	graph	NOUN
fumecheng-13939	584	9	communication	communication	NOUN
fumecheng-13939	584	10	topology	topology	NOUN
fumecheng-13939	584	11	in	in	ADP
fumecheng-13939	584	12	this	this	DET
fumecheng-13939	584	13	formation	formation	NOUN
fumecheng-13939	584	14	,	,	PUNCT
fumecheng-13939	584	15	the	the	DET
fumecheng-13939	584	16	leader	leader	NOUN
fumecheng-13939	584	17	uav	uav	PROPN
fumecheng-13939	584	18	(	(	PUNCT
fumecheng-13939	584	19	qbot2	qbot2	NOUN
fumecheng-13939	584	20	-	-	PUNCT
fumecheng-13939	584	21	l	l	NOUN
fumecheng-13939	584	22	)	)	PUNCT
fumecheng-13939	584	23	does	do	AUX
fumecheng-13939	584	24	not	not	PART
fumecheng-13939	584	25	receive	receive	VERB
fumecheng-13939	584	26	information	information	NOUN
fumecheng-13939	584	27	from	from	ADP
fumecheng-13939	584	28	the	the	DET
fumecheng-13939	584	29	follower	follower	NOUN
fumecheng-13939	584	30	uav	uav	PROPN
fumecheng-13939	584	31	(	(	PUNCT
fumecheng-13939	584	32	qball	qball	ADV
fumecheng-13939	584	33	-	-	PUNCT
fumecheng-13939	584	34	x4	x4	ADJ
fumecheng-13939	584	35	)	)	PUNCT
fumecheng-13939	584	36	or	or	CCONJ
fumecheng-13939	584	37	wait	wait	VERB
fumecheng-13939	584	38	for	for	ADP
fumecheng-13939	584	39	adjustments	adjustment	NOUN
fumecheng-13939	584	40	from	from	ADP
fumecheng-13939	584	41	it	it	PRON
fumecheng-13939	584	42	.	.	PUNCT
fumecheng-13939	585	1	to	to	PART
fumecheng-13939	585	2	catch	catch	VERB
fumecheng-13939	585	3	up	up	ADP
fumecheng-13939	585	4	with	with	ADP
fumecheng-13939	585	5	the	the	DET
fumecheng-13939	585	6	leader	leader	NOUN
fumecheng-13939	585	7	,	,	PUNCT
fumecheng-13939	585	8	the	the	DET
fumecheng-13939	585	9	follower	follower	NOUN
fumecheng-13939	585	10	directly	directly	ADV
fumecheng-13939	585	11	flows	flow	VERB
fumecheng-13939	585	12	in	in	ADP
fumecheng-13939	585	13	a	a	DET
fumecheng-13939	585	14	curve	curve	NOUN
fumecheng-13939	585	15	at	at	ADP
fumecheng-13939	585	16	point	point	NOUN
fumecheng-13939	585	17	(	(	PUNCT
fumecheng-13939	585	18	-0.75	-0.75	NUM
fumecheng-13939	585	19	,	,	PUNCT
fumecheng-13939	585	20	-0.75	-0.75	NUM
fumecheng-13939	585	21	)	)	PUNCT
fumecheng-13939	585	22	,	,	PUNCT
fumecheng-13939	585	23	instead	instead	ADV
fumecheng-13939	585	24	of	of	ADP
fumecheng-13939	585	25	hovering	hover	VERB
fumecheng-13939	585	26	in	in	ADP
fumecheng-13939	585	27	the	the	DET
fumecheng-13939	585	28	air	air	NOUN
fumecheng-13939	585	29	waiting	wait	VERB
fumecheng-13939	585	30	for	for	ADP
fumecheng-13939	585	31	the	the	DET
fumecheng-13939	585	32	qbot2	qbot2	NOUN
fumecheng-13939	585	33	-	-	PUNCT
fumecheng-13939	585	34	l	l	NOUN
fumecheng-13939	585	35	to	to	PART
fumecheng-13939	585	36	change	change	VERB
fumecheng-13939	585	37	direction	direction	NOUN
fumecheng-13939	585	38	,	,	PUNCT
fumecheng-13939	585	39	as	as	SCONJ
fumecheng-13939	585	40	it	it	PRON
fumecheng-13939	585	41	would	would	AUX
fumecheng-13939	585	42	have	have	AUX
fumecheng-13939	585	43	done	do	VERB
fumecheng-13939	585	44	without	without	ADP
fumecheng-13939	585	45	failure	failure	NOUN
fumecheng-13939	585	46	.	.	PUNCT
fumecheng-13939	586	1	overall	overall	ADV
fumecheng-13939	586	2	,	,	PUNCT
fumecheng-13939	586	3	the	the	DET
fumecheng-13939	586	4	entire	entire	ADJ
fumecheng-13939	586	5	formation	formation	NOUN
fumecheng-13939	586	6	is	be	AUX
fumecheng-13939	586	7	still	still	ADV
fumecheng-13939	586	8	able	able	ADJ
fumecheng-13939	586	9	to	to	PART
fumecheng-13939	586	10	maintain	maintain	VERB
fumecheng-13939	586	11	a	a	DET
fumecheng-13939	586	12	good	good	ADJ
fumecheng-13939	586	13	formation	formation	NOUN
fumecheng-13939	586	14	even	even	ADV
fumecheng-13939	586	15	in	in	ADP
fumecheng-13939	586	16	the	the	DET
fumecheng-13939	586	17	latter	latter	ADJ
fumecheng-13939	586	18	half	half	NOUN
fumecheng-13939	586	19	,	,	PUNCT
fumecheng-13939	586	20	where	where	SCONJ
fumecheng-13939	586	21	both	both	DET
fumecheng-13939	586	22	failures	failure	NOUN
fumecheng-13939	586	23	occur	occur	VERB
fumecheng-13939	586	24	simultaneously	simultaneously	ADV
fumecheng-13939	586	25	.	.	PUNCT
fumecheng-13939	587	1	the	the	DET
fumecheng-13939	587	2	failure	failure	NOUN
fumecheng-13939	587	3	of	of	ADP
fumecheng-13939	587	4	the	the	DET
fumecheng-13939	587	5	uav	uav	PROPN
fumecheng-13939	587	6	qball	qball	PROPN
fumecheng-13939	587	7	-	-	PUNCT
fumecheng-13939	587	8	x4	x4	PROPN
fumecheng-13939	587	9	does	do	AUX
fumecheng-13939	587	10	not	not	PART
fumecheng-13939	587	11	affect	affect	VERB
fumecheng-13939	587	12	the	the	DET
fumecheng-13939	587	13	tracking	tracking	NOUN
fumecheng-13939	587	14	of	of	ADP
fumecheng-13939	587	15	the	the	DET
fumecheng-13939	587	16	qbot2	qbot2	PROPN
fumecheng-13939	587	17	-	-	PUNCT
fumecheng-13939	587	18	f	f	PROPN
fumecheng-13939	587	19	on	on	ADP
fumecheng-13939	587	20	the	the	DET
fumecheng-13939	587	21	other	other	ADJ
fumecheng-13939	587	22	side	side	NOUN
fumecheng-13939	587	23	.	.	PUNCT
fumecheng-13939	588	1	this	this	PRON
fumecheng-13939	588	2	demonstrates	demonstrate	VERB
fumecheng-13939	588	3	that	that	SCONJ
fumecheng-13939	588	4	the	the	DET
fumecheng-13939	588	5	formation	formation	NOUN
fumecheng-13939	588	6	scheme	scheme	NOUN
fumecheng-13939	588	7	studied	study	VERB
fumecheng-13939	588	8	in	in	ADP
fumecheng-13939	588	9	this	this	DET
fumecheng-13939	588	10	research	research	NOUN
fumecheng-13939	588	11	,	,	PUNCT
fumecheng-13939	588	12	along	along	ADP
fumecheng-13939	588	13	with	with	ADP
fumecheng-13939	588	14	the	the	DET
fumecheng-13939	588	15	fault	fault	NOUN
fumecheng-13939	588	16	diagnosis	diagnosis	NOUN
fumecheng-13939	588	17	and	and	CCONJ
fumecheng-13939	588	18	the	the	DET
fumecheng-13939	588	19	fault	fault	NOUN
fumecheng-13939	588	20	-	-	PUNCT
fumecheng-13939	588	21	tolerant	tolerant	ADJ
fumecheng-13939	588	22	control	control	NOUN
fumecheng-13939	588	23	scheme	scheme	NOUN
fumecheng-13939	588	24	for	for	ADP
fumecheng-13939	588	25	uav	uav	PROPN
fumecheng-13939	588	26	swarms	swarm	NOUN
fumecheng-13939	588	27	,	,	PUNCT
fumecheng-13939	588	28	has	have	VERB
fumecheng-13939	588	29	a	a	DET
fumecheng-13939	588	30	certain	certain	ADJ
fumecheng-13939	588	31	engineering	engineering	NOUN
fumecheng-13939	588	32	application	application	NOUN
fumecheng-13939	588	33	value	value	NOUN
fumecheng-13939	588	34	.	.	PUNCT
fumecheng-13939	589	1	fig	fig	NOUN
fumecheng-13939	589	2	.	.	PUNCT
fumecheng-13939	590	1	15	15	NUM
fumecheng-13939	590	2	top	top	ADJ
fumecheng-13939	590	3	view	view	NOUN
fumecheng-13939	590	4	trajectory	trajectory	NOUN
fumecheng-13939	590	5	when	when	SCONJ
fumecheng-13939	590	6	two	two	NUM
fumecheng-13939	590	7	actuators	actuator	NOUN
fumecheng-13939	590	8	fail	fail	VERB
fumecheng-13939	590	9	5	5	NUM
fumecheng-13939	590	10	.	.	PUNCT
fumecheng-13939	590	11	conclusion	conclusion	NOUN
fumecheng-13939	590	12	this	this	DET
fumecheng-13939	590	13	study	study	NOUN
fumecheng-13939	590	14	proposed	propose	VERB
fumecheng-13939	590	15	a	a	DET
fumecheng-13939	590	16	fault	fault	NOUN
fumecheng-13939	590	17	-	-	PUNCT
fumecheng-13939	590	18	tolerant	tolerant	ADJ
fumecheng-13939	590	19	control	control	NOUN
fumecheng-13939	590	20	strategy	strategy	NOUN
fumecheng-13939	590	21	tailored	tailor	VERB
fumecheng-13939	590	22	for	for	ADP
fumecheng-13939	590	23	low	low	ADJ
fumecheng-13939	590	24	-	-	PUNCT
fumecheng-13939	590	25	altitude	altitude	NOUN
fumecheng-13939	590	26	uav	uav	PROPN
fumecheng-13939	590	27	swarms	swarm	NOUN
fumecheng-13939	590	28	subject	subject	ADJ
fumecheng-13939	590	29	to	to	ADP
fumecheng-13939	590	30	actuator	actuator	NOUN
fumecheng-13939	590	31	faults	fault	NOUN
fumecheng-13939	590	32	.	.	PUNCT
fumecheng-13939	591	1	a	a	DET
fumecheng-13939	591	2	reduced	reduce	VERB
fumecheng-13939	591	3	-	-	PUNCT
fumecheng-13939	591	4	order	order	NOUN
fumecheng-13939	591	5	sliding	slide	VERB
fumecheng-13939	591	6	mode	mode	NOUN
fumecheng-13939	591	7	observer	observer	NOUN
fumecheng-13939	591	8	was	be	AUX
fumecheng-13939	591	9	designed	design	VERB
fumecheng-13939	591	10	to	to	PART
fumecheng-13939	591	11	enable	enable	VERB
fumecheng-13939	591	12	real	real	ADJ
fumecheng-13939	591	13	-	-	PUNCT
fumecheng-13939	591	14	time	time	NOUN
fumecheng-13939	591	15	fault	fault	NOUN
fumecheng-13939	591	16	diagnosis	diagnosis	NOUN
fumecheng-13939	591	17	,	,	PUNCT
fumecheng-13939	591	18	with	with	ADP
fumecheng-13939	591	19	the	the	DET
fumecheng-13939	591	20	estimated	estimate	VERB
fumecheng-13939	591	21	fault	fault	NOUN
fumecheng-13939	591	22	information	information	NOUN
fumecheng-13939	591	23	actively	actively	ADV
fumecheng-13939	591	24	fed	feed	VERB
fumecheng-13939	591	25	into	into	ADP
fumecheng-13939	591	26	a	a	DET
fumecheng-13939	591	27	sliding	slide	VERB
fumecheng-13939	591	28	mode	mode	NOUN
fumecheng-13939	591	29	tracking	track	VERB
fumecheng-13939	591	30	controller	controller	NOUN
fumecheng-13939	591	31	to	to	PART
fumecheng-13939	591	32	achieve	achieve	VERB
fumecheng-13939	591	33	timely	timely	ADJ
fumecheng-13939	591	34	compensation	compensation	NOUN
fumecheng-13939	591	35	.	.	PUNCT
fumecheng-13939	592	1	this	this	DET
fumecheng-13939	592	2	structure	structure	NOUN
fumecheng-13939	592	3	enhances	enhance	VERB
fumecheng-13939	592	4	both	both	CCONJ
fumecheng-13939	592	5	the	the	DET
fumecheng-13939	592	6	robustness	robustness	NOUN
fumecheng-13939	592	7	and	and	CCONJ
fumecheng-13939	592	8	real	real	ADJ
fumecheng-13939	592	9	-	-	PUNCT
fumecheng-13939	592	10	time	time	NOUN
fumecheng-13939	592	11	responsiveness	responsiveness	NOUN
fumecheng-13939	592	12	of	of	ADP
fumecheng-13939	592	13	the	the	DET
fumecheng-13939	592	14	system	system	NOUN
fumecheng-13939	592	15	under	under	ADP
fumecheng-13939	592	16	actuator	actuator	NOUN
fumecheng-13939	592	17	failure	failure	NOUN
fumecheng-13939	592	18	conditions	condition	NOUN
fumecheng-13939	592	19	.	.	PUNCT
fumecheng-13939	593	1	without	without	ADP
fumecheng-13939	593	2	the	the	DET
fumecheng-13939	593	3	need	need	NOUN
fumecheng-13939	593	4	for	for	ADP
fumecheng-13939	593	5	additional	additional	ADJ
fumecheng-13939	593	6	fault	fault	NOUN
fumecheng-13939	593	7	-	-	PUNCT
fumecheng-13939	593	8	specific	specific	ADJ
fumecheng-13939	593	9	sensors	sensor	NOUN
fumecheng-13939	593	10	,	,	PUNCT
fumecheng-13939	593	11	actuator	actuator	NOUN
fumecheng-13939	593	12	faults	fault	NOUN
fumecheng-13939	593	13	were	be	AUX
fumecheng-13939	593	14	reconstructed	reconstruct	VERB
fumecheng-13939	593	15	online	online	ADV
fumecheng-13939	593	16	using	use	VERB
fumecheng-13939	593	17	only	only	ADV
fumecheng-13939	593	18	the	the	DET
fumecheng-13939	593	19	available	available	ADJ
fumecheng-13939	593	20	system	system	NOUN
fumecheng-13939	593	21	state	state	NOUN
fumecheng-13939	593	22	information	information	NOUN
fumecheng-13939	593	23	.	.	PUNCT
fumecheng-13939	594	1	in	in	ADP
fumecheng-13939	594	2	particular	particular	ADJ
fumecheng-13939	594	3	,	,	PUNCT
fumecheng-13939	594	4	the	the	DET
fumecheng-13939	594	5	proposed	propose	VERB
fumecheng-13939	594	6	reduced	reduce	VERB
fumecheng-13939	594	7	-	-	PUNCT
fumecheng-13939	594	8	order	order	NOUN
fumecheng-13939	594	9	observer	observer	NOUN
fumecheng-13939	594	10	significantly	significantly	ADV
fumecheng-13939	594	11	improved	improve	VERB
fumecheng-13939	594	12	computational	computational	ADJ
fumecheng-13939	594	13	efficiency	efficiency	NOUN
fumecheng-13939	594	14	while	while	SCONJ
fumecheng-13939	594	15	maintaining	maintain	VERB
fumecheng-13939	594	16	diagnostic	diagnostic	ADJ
fumecheng-13939	594	17	accuracy	accuracy	NOUN
fumecheng-13939	594	18	,	,	PUNCT
fumecheng-13939	594	19	which	which	PRON
fumecheng-13939	594	20	is	be	AUX
fumecheng-13939	594	21	especially	especially	ADV
fumecheng-13939	594	22	beneficial	beneficial	ADJ
fumecheng-13939	594	23	for	for	ADP
fumecheng-13939	594	24	embedded	embed	VERB
fumecheng-13939	594	25	platforms	platform	NOUN
fumecheng-13939	594	26	with	with	ADP
fumecheng-13939	594	27	limited	limited	ADJ
fumecheng-13939	594	28	computational	computational	ADJ
fumecheng-13939	594	29	resources	resource	NOUN
fumecheng-13939	594	30	.	.	PUNCT
fumecheng-13939	595	1	the	the	DET
fumecheng-13939	595	2	overall	overall	ADJ
fumecheng-13939	595	3	stability	stability	NOUN
fumecheng-13939	595	4	of	of	ADP
fumecheng-13939	595	5	the	the	DET
fumecheng-13939	595	6	closed	closed	ADJ
fumecheng-13939	595	7	-	-	PUNCT
fumecheng-13939	595	8	loop	loop	NOUN
fumecheng-13939	595	9	system	system	NOUN
fumecheng-13939	595	10	,	,	PUNCT
fumecheng-13939	595	11	incorporating	incorporate	VERB
fumecheng-13939	595	12	the	the	DET
fumecheng-13939	595	13	observer	observer	NOUN
fumecheng-13939	595	14	and	and	CCONJ
fumecheng-13939	595	15	controller	controller	NOUN
fumecheng-13939	595	16	,	,	PUNCT
fumecheng-13939	595	17	was	be	AUX
fumecheng-13939	595	18	rigorously	rigorously	ADV
fumecheng-13939	595	19	established	establish	VERB
fumecheng-13939	595	20	using	use	VERB
fumecheng-13939	595	21	the	the	DET
fumecheng-13939	595	22	lyapunov	lyapunov	ADJ
fumecheng-13939	595	23	fault	fault	NOUN
fumecheng-13939	595	24	-	-	PUNCT
fumecheng-13939	595	25	tolerant	tolerant	ADJ
fumecheng-13939	595	26	control	control	NOUN
fumecheng-13939	595	27	of	of	ADP
fumecheng-13939	595	28	low	low	ADJ
fumecheng-13939	595	29	-	-	PUNCT
fumecheng-13939	595	30	altitude	altitude	NOUN
fumecheng-13939	595	31	unmanned	unmanned	ADJ
fumecheng-13939	595	32	aerial	aerial	ADJ
fumecheng-13939	595	33	vehicle	vehicle	NOUN
fumecheng-13939	595	34	swarms	swarm	NOUN
fumecheng-13939	595	35	using	use	VERB
fumecheng-13939	595	36	...	...	PUNCT
fumecheng-13939	595	37	23	23	NUM
fumecheng-13939	595	38	based	base	VERB
fumecheng-13939	595	39	methods	method	NOUN
fumecheng-13939	595	40	.	.	PUNCT
fumecheng-13939	596	1	the	the	DET
fumecheng-13939	596	2	proposed	propose	VERB
fumecheng-13939	596	3	control	control	NOUN
fumecheng-13939	596	4	scheme	scheme	NOUN
fumecheng-13939	596	5	was	be	AUX
fumecheng-13939	596	6	further	far	ADV
fumecheng-13939	596	7	validated	validate	VERB
fumecheng-13939	596	8	through	through	ADP
fumecheng-13939	596	9	experimental	experimental	ADJ
fumecheng-13939	596	10	tests	test	NOUN
fumecheng-13939	596	11	on	on	ADP
fumecheng-13939	596	12	a	a	DET
fumecheng-13939	596	13	custom	custom	ADV
fumecheng-13939	596	14	-	-	PUNCT
fumecheng-13939	596	15	built	build	VERB
fumecheng-13939	596	16	low	low	ADJ
fumecheng-13939	596	17	-	-	PUNCT
fumecheng-13939	596	18	altitude	altitude	NOUN
fumecheng-13939	596	19	uav	uav	PROPN
fumecheng-13939	596	20	swarm	swarm	NOUN
fumecheng-13939	596	21	platform	platform	NOUN
fumecheng-13939	596	22	,	,	PUNCT
fumecheng-13939	596	23	demonstrating	demonstrate	VERB
fumecheng-13939	596	24	effective	effective	ADJ
fumecheng-13939	596	25	performance	performance	NOUN
fumecheng-13939	596	26	under	under	ADP
fumecheng-13939	596	27	both	both	PRON
fumecheng-13939	596	28	singleand	singleand	NOUN
fumecheng-13939	596	29	dual	dual	ADJ
fumecheng-13939	596	30	-	-	PUNCT
fumecheng-13939	596	31	actuator	actuator	NOUN
fumecheng-13939	596	32	fault	fault	NOUN
fumecheng-13939	596	33	scenarios	scenario	NOUN
fumecheng-13939	596	34	.	.	PUNCT
fumecheng-13939	597	1	this	this	DET
fumecheng-13939	597	2	work	work	NOUN
fumecheng-13939	597	3	focuses	focus	VERB
fumecheng-13939	597	4	on	on	ADP
fumecheng-13939	597	5	the	the	DET
fumecheng-13939	597	6	fault	fault	NOUN
fumecheng-13939	597	7	-	-	PUNCT
fumecheng-13939	597	8	tolerant	tolerant	ADJ
fumecheng-13939	597	9	performance	performance	NOUN
fumecheng-13939	597	10	of	of	ADP
fumecheng-13939	597	11	the	the	DET
fumecheng-13939	597	12	control	control	NOUN
fumecheng-13939	597	13	system	system	NOUN
fumecheng-13939	597	14	.	.	PUNCT
fumecheng-13939	598	1	in	in	ADP
fumecheng-13939	598	2	future	future	ADJ
fumecheng-13939	598	3	research	research	NOUN
fumecheng-13939	598	4	,	,	PUNCT
fumecheng-13939	598	5	further	further	ADJ
fumecheng-13939	598	6	consideration	consideration	NOUN
fumecheng-13939	598	7	will	will	AUX
fumecheng-13939	598	8	be	be	AUX
fumecheng-13939	598	9	given	give	VERB
fumecheng-13939	598	10	to	to	ADP
fumecheng-13939	598	11	the	the	DET
fumecheng-13939	598	12	robust	robust	ADJ
fumecheng-13939	598	13	performance	performance	NOUN
fumecheng-13939	598	14	,	,	PUNCT
fumecheng-13939	598	15	such	such	ADJ
fumecheng-13939	598	16	as	as	ADP
fumecheng-13939	598	17	the	the	DET
fumecheng-13939	598	18	robustness	robustness	NOUN
fumecheng-13939	598	19	of	of	ADP
fumecheng-13939	598	20	controller	controller	NOUN
fumecheng-13939	598	21	gains	gain	NOUN
fumecheng-13939	598	22	(	(	PUNCT
fumecheng-13939	598	23	e.g.	e.g.	ADV
fumecheng-13939	598	24	,	,	PUNCT
fumecheng-13939	598	25	sliding	slide	VERB
fumecheng-13939	598	26	mode	mode	NOUN
fumecheng-13939	598	27	gain	gain	NOUN
fumecheng-13939	598	28	,	,	PUNCT
fumecheng-13939	598	29	sign	sign	VERB
fumecheng-13939	598	30	function	function	NOUN
fumecheng-13939	598	31	bounds	bound	NOUN
fumecheng-13939	598	32	)	)	PUNCT
fumecheng-13939	598	33	.	.	PUNCT
fumecheng-13939	599	1	references	reference	NOUN
fumecheng-13939	599	2	1	1	NUM
fumecheng-13939	599	3	.	.	PUNCT
fumecheng-13939	599	4	spanogianopoulos	spanogianopoulo	NOUN
fumecheng-13939	599	5	,	,	PUNCT
fumecheng-13939	599	6	s.	s.	PROPN
fumecheng-13939	599	7	,	,	PUNCT
fumecheng-13939	599	8	ahiska	ahiska	PROPN
fumecheng-13939	599	9	,	,	PUNCT
fumecheng-13939	599	10	k.	k.	PROPN
fumecheng-13939	599	11	,	,	PUNCT
fumecheng-13939	599	12	2024	2024	NUM
fumecheng-13939	599	13	,	,	PUNCT
fumecheng-13939	599	14	formation	formation	NOUN
fumecheng-13939	599	15	solution	solution	NOUN
fumecheng-13939	599	16	for	for	ADP
fumecheng-13939	599	17	heterogeneous	heterogeneous	ADJ
fumecheng-13939	599	18	swarm	swarm	NOUN
fumecheng-13939	599	19	of	of	ADP
fumecheng-13939	599	20	uavs	uavs	PROPN
fumecheng-13939	599	21	and	and	CCONJ
fumecheng-13939	599	22	mavs	mav	VERB
fumecheng-13939	599	23	in	in	ADP
fumecheng-13939	599	24	crowded	crowded	ADJ
fumecheng-13939	599	25	environment	environment	NOUN
fumecheng-13939	599	26	,	,	PUNCT
fumecheng-13939	599	27	2024	2024	NUM
fumecheng-13939	599	28	10th	10th	ADJ
fumecheng-13939	599	29	international	international	ADJ
fumecheng-13939	599	30	conference	conference	NOUN
fumecheng-13939	599	31	on	on	ADP
fumecheng-13939	599	32	control	control	NOUN
fumecheng-13939	599	33	,	,	PUNCT
fumecheng-13939	599	34	decision	decision	NOUN
fumecheng-13939	599	35	and	and	CCONJ
fumecheng-13939	599	36	information	information	NOUN
fumecheng-13939	599	37	technologies	technology	NOUN
fumecheng-13939	599	38	(	(	PUNCT
fumecheng-13939	599	39	codit	codit	NOUN
fumecheng-13939	599	40	)	)	PUNCT
fumecheng-13939	599	41	,	,	PUNCT
fumecheng-13939	599	42	vallette	vallette	NOUN
fumecheng-13939	599	43	,	,	PUNCT
fumecheng-13939	599	44	malta	malta	PROPN
fumecheng-13939	599	45	,	,	PUNCT
fumecheng-13939	599	46	pp	pp	X
fumecheng-13939	599	47	.	.	PUNCT
fumecheng-13939	600	1	158	158	NUM
fumecheng-13939	600	2	-	-	SYM
fumecheng-13939	600	3	163	163	NUM
fumecheng-13939	600	4	.	.	X
fumecheng-13939	601	1	2	2	NUM
fumecheng-13939	601	2	.	.	X
fumecheng-13939	601	3	silva	silva	PROPN
fumecheng-13939	601	4	,	,	PUNCT
fumecheng-13939	601	5	l.s	l.s	PROPN
fumecheng-13939	601	6	.	.	PROPN
fumecheng-13939	601	7	,	,	PUNCT
fumecheng-13939	601	8	santos	santos	PROPN
fumecheng-13939	601	9	,	,	PUNCT
fumecheng-13939	601	10	d.a	d.a	PROPN
fumecheng-13939	601	11	.	.	PROPN
fumecheng-13939	601	12	,	,	PUNCT
fumecheng-13939	601	13	2020	2020	NUM
fumecheng-13939	601	14	,	,	PUNCT
fumecheng-13939	601	15	fast	fast	ADJ
fumecheng-13939	601	16	nonsingular	nonsingular	ADJ
fumecheng-13939	601	17	terminal	terminal	PROPN
fumecheng-13939	601	18	sliding	slide	VERB
fumecheng-13939	601	19	mode	mode	NOUN
fumecheng-13939	601	20	flight	flight	NOUN
fumecheng-13939	601	21	control	control	NOUN
fumecheng-13939	601	22	for	for	ADP
fumecheng-13939	601	23	multirotor	multirotor	NOUN
fumecheng-13939	601	24	aerial	aerial	ADJ
fumecheng-13939	601	25	vehicles	vehicle	NOUN
fumecheng-13939	601	26	,	,	PUNCT
fumecheng-13939	601	27	ieee	ieee	NOUN
fumecheng-13939	601	28	transactions	transaction	NOUN
fumecheng-13939	601	29	on	on	ADP
fumecheng-13939	601	30	aerospace	aerospace	NOUN
fumecheng-13939	601	31	and	and	CCONJ
fumecheng-13939	601	32	electronic	electronic	ADJ
fumecheng-13939	601	33	systems	system	NOUN
fumecheng-13939	601	34	,	,	PUNCT
fumecheng-13939	601	35	56(6	56(6	NUM
fumecheng-13939	601	36	)	)	PUNCT
fumecheng-13939	601	37	,	,	PUNCT
fumecheng-13939	601	38	pp	pp	PROPN
fumecheng-13939	601	39	.	.	PUNCT
fumecheng-13939	602	1	4288	4288	NUM
fumecheng-13939	602	2	-	-	SYM
fumecheng-13939	602	3	4299	4299	NUM
fumecheng-13939	602	4	.	.	PUNCT
fumecheng-13939	603	1	3	3	X
fumecheng-13939	603	2	.	.	X
fumecheng-13939	603	3	seo	seo	NOUN
fumecheng-13939	603	4	,	,	PUNCT
fumecheng-13939	603	5	j.	j.	PROPN
fumecheng-13939	603	6	,	,	PUNCT
fumecheng-13939	603	7	kim	kim	PROPN
fumecheng-13939	603	8	,	,	PUNCT
fumecheng-13939	603	9	y.	y.	PROPN
fumecheng-13939	603	10	,	,	PUNCT
fumecheng-13939	603	11	kim	kim	PROPN
fumecheng-13939	603	12	,	,	PUNCT
fumecheng-13939	603	13	s.	s.	PROPN
fumecheng-13939	603	14	,	,	PUNCT
fumecheng-13939	603	15	tsourdos	tsourdo	NOUN
fumecheng-13939	603	16	,	,	PUNCT
fumecheng-13939	603	17	a.	a.	NOUN
fumecheng-13939	603	18	,	,	PUNCT
fumecheng-13939	603	19	2017	2017	NUM
fumecheng-13939	603	20	,	,	PUNCT
fumecheng-13939	603	21	collision	collision	NOUN
fumecheng-13939	603	22	avoidance	avoidance	NOUN
fumecheng-13939	603	23	strategies	strategy	NOUN
fumecheng-13939	603	24	for	for	ADP
fumecheng-13939	603	25	unmanned	unmanned	ADJ
fumecheng-13939	603	26	aerial	aerial	ADJ
fumecheng-13939	603	27	vehicles	vehicle	NOUN
fumecheng-13939	603	28	in	in	ADP
fumecheng-13939	603	29	formation	formation	NOUN
fumecheng-13939	603	30	flight	flight	NOUN
fumecheng-13939	603	31	,	,	PUNCT
fumecheng-13939	603	32	ieee	ieee	NOUN
fumecheng-13939	603	33	transactions	transaction	NOUN
fumecheng-13939	603	34	on	on	ADP
fumecheng-13939	603	35	aerospace	aerospace	NOUN
fumecheng-13939	603	36	and	and	CCONJ
fumecheng-13939	603	37	electronic	electronic	ADJ
fumecheng-13939	603	38	systems	system	NOUN
fumecheng-13939	603	39	,	,	PUNCT
fumecheng-13939	603	40	53(6	53(6	NOUN
fumecheng-13939	603	41	)	)	PUNCT
fumecheng-13939	603	42	,	,	PUNCT
fumecheng-13939	603	43	pp	pp	ADJ
fumecheng-13939	603	44	.	.	PUNCT
fumecheng-13939	604	1	2718	2718	NUM
fumecheng-13939	604	2	-	-	SYM
fumecheng-13939	604	3	2734	2734	NUM
fumecheng-13939	604	4	.	.	PUNCT
fumecheng-13939	605	1	4	4	X
fumecheng-13939	605	2	.	.	X
fumecheng-13939	605	3	shahzad	shahzad	PROPN
fumecheng-13939	605	4	,	,	PUNCT
fumecheng-13939	605	5	m.m	m.m	PROPN
fumecheng-13939	605	6	.	.	PROPN
fumecheng-13939	605	7	,	,	PUNCT
fumecheng-13939	605	8	asad	asad	PROPN
fumecheng-13939	605	9	,	,	PUNCT
fumecheng-13939	605	10	m.h	m.h	PROPN
fumecheng-13939	605	11	.	.	PROPN
fumecheng-13939	605	12	,	,	PUNCT
fumecheng-13939	605	13	haris	haris	PROPN
fumecheng-13939	605	14	,	,	PUNCT
fumecheng-13939	605	15	m.	m.	NOUN
fumecheng-13939	605	16	,	,	PUNCT
fumecheng-13939	605	17	munawar	munawar	PROPN
fumecheng-13939	605	18	,	,	PUNCT
fumecheng-13939	605	19	h.	h.	PROPN
fumecheng-13939	605	20	,	,	PUNCT
fumecheng-13939	605	21	yousaf	yousaf	PROPN
fumecheng-13939	605	22	,	,	PUNCT
fumecheng-13939	605	23	m.h	m.h	PROPN
fumecheng-13939	605	24	.	.	PROPN
fumecheng-13939	605	25	,	,	PUNCT
fumecheng-13939	605	26	2023	2023	NUM
fumecheng-13939	605	27	,	,	PUNCT
fumecheng-13939	605	28	formation	formation	NOUN
fumecheng-13939	605	29	control	control	NOUN
fumecheng-13939	605	30	and	and	CCONJ
fumecheng-13939	605	31	subswarm	subswarm	NOUN
fumecheng-13939	605	32	generation	generation	NOUN
fumecheng-13939	605	33	of	of	ADP
fumecheng-13939	605	34	multirotor	multirotor	PROPN
fumecheng-13939	605	35	uavs	uavs	PROPN
fumecheng-13939	605	36	,	,	PUNCT
fumecheng-13939	605	37	2023	2023	NUM
fumecheng-13939	605	38	international	international	ADJ
fumecheng-13939	605	39	conference	conference	NOUN
fumecheng-13939	605	40	on	on	ADP
fumecheng-13939	605	41	robotics	robotic	NOUN
fumecheng-13939	605	42	and	and	CCONJ
fumecheng-13939	605	43	automation	automation	NOUN
fumecheng-13939	605	44	in	in	ADP
fumecheng-13939	605	45	industry	industry	NOUN
fumecheng-13939	605	46	(	(	PUNCT
fumecheng-13939	605	47	icrai	icrai	ADJ
fumecheng-13939	605	48	)	)	PUNCT
fumecheng-13939	605	49	,	,	PUNCT
fumecheng-13939	605	50	peshawar	peshawar	NOUN
fumecheng-13939	605	51	,	,	PUNCT
fumecheng-13939	605	52	pakistan	pakistan	PROPN
fumecheng-13939	605	53	,	,	PUNCT
fumecheng-13939	605	54	pp	pp	ADJ
fumecheng-13939	605	55	.	.	PUNCT
fumecheng-13939	606	1	1	1	NUM
fumecheng-13939	606	2	-	-	SYM
fumecheng-13939	606	3	7	7	NUM
fumecheng-13939	606	4	.	.	NOUN
fumecheng-13939	606	5	5	5	NUM
fumecheng-13939	606	6	.	.	X
fumecheng-13939	606	7	volovoda	volovoda	PROPN
fumecheng-13939	606	8	,	,	PUNCT
fumecheng-13939	606	9	t.	t.	PROPN
fumecheng-13939	606	10	,	,	PUNCT
fumecheng-13939	606	11	2024	2024	NUM
fumecheng-13939	606	12	,	,	PUNCT
fumecheng-13939	606	13	swarm	swarm	NOUN
fumecheng-13939	606	14	intelligence	intelligence	NOUN
fumecheng-13939	606	15	for	for	ADP
fumecheng-13939	606	16	uav	uav	PROPN
fumecheng-13939	606	17	,	,	PUNCT
fumecheng-13939	606	18	2024	2024	NUM
fumecheng-13939	606	19	ieee	ieee	NOUN
fumecheng-13939	606	20	7th	7th	ADJ
fumecheng-13939	606	21	international	international	ADJ
fumecheng-13939	606	22	conference	conference	NOUN
fumecheng-13939	606	23	on	on	ADP
fumecheng-13939	606	24	actual	actual	ADJ
fumecheng-13939	606	25	problems	problem	NOUN
fumecheng-13939	606	26	of	of	ADP
fumecheng-13939	606	27	unmanned	unmanned	ADJ
fumecheng-13939	606	28	aerial	aerial	ADJ
fumecheng-13939	606	29	vehicles	vehicle	NOUN
fumecheng-13939	606	30	development	development	NOUN
fumecheng-13939	606	31	(	(	PUNCT
fumecheng-13939	606	32	apuavd	apuavd	NOUN
fumecheng-13939	606	33	)	)	PUNCT
fumecheng-13939	606	34	,	,	PUNCT
fumecheng-13939	606	35	kyiv	kyiv	ADJ
fumecheng-13939	606	36	,	,	PUNCT
fumecheng-13939	606	37	ukraine	ukraine	NOUN
fumecheng-13939	606	38	,	,	PUNCT
fumecheng-13939	606	39	pp	pp	ADJ
fumecheng-13939	606	40	.	.	PUNCT
fumecheng-13939	607	1	313	313	NUM
fumecheng-13939	607	2	-	-	SYM
fumecheng-13939	607	3	316	316	NUM
fumecheng-13939	607	4	.	.	NOUN
fumecheng-13939	608	1	6	6	NUM
fumecheng-13939	608	2	.	.	X
fumecheng-13939	609	1	kim	kim	PROPN
fumecheng-13939	609	2	,	,	PUNCT
fumecheng-13939	609	3	m.	m.	PROPN
fumecheng-13939	609	4	,	,	PUNCT
fumecheng-13939	609	5	lee	lee	PROPN
fumecheng-13939	609	6	,	,	PUNCT
fumecheng-13939	609	7	h.	h.	PROPN
fumecheng-13939	609	8	,	,	PUNCT
fumecheng-13939	609	9	hwang	hwang	PROPN
fumecheng-13939	609	10	,	,	PUNCT
fumecheng-13939	609	11	s.	s.	PROPN
fumecheng-13939	609	12	,	,	PUNCT
fumecheng-13939	609	13	debbah	debbah	PROPN
fumecheng-13939	609	14	,	,	PUNCT
fumecheng-13939	609	15	m.	m.	NOUN
fumecheng-13939	609	16	,	,	PUNCT
fumecheng-13939	609	17	lee	lee	PROPN
fumecheng-13939	609	18	,	,	PUNCT
fumecheng-13939	609	19	i.	i.	PROPN
fumecheng-13939	609	20	,	,	PUNCT
fumecheng-13939	609	21	2024	2024	NUM
fumecheng-13939	609	22	,	,	PUNCT
fumecheng-13939	609	23	cooperative	cooperative	ADJ
fumecheng-13939	609	24	multiagent	multiagent	NOUN
fumecheng-13939	609	25	deep	deep	ADJ
fumecheng-13939	609	26	reinforcement	reinforcement	NOUN
fumecheng-13939	609	27	learning	learning	NOUN
fumecheng-13939	609	28	methods	method	NOUN
fumecheng-13939	609	29	for	for	ADP
fumecheng-13939	609	30	uav	uav	PROPN
fumecheng-13939	609	31	-	-	PUNCT
fumecheng-13939	609	32	aided	aid	VERB
fumecheng-13939	609	33	mobile	mobile	ADJ
fumecheng-13939	609	34	edge	edge	NOUN
fumecheng-13939	609	35	computing	computing	NOUN
fumecheng-13939	609	36	networks	network	NOUN
fumecheng-13939	609	37	,	,	PUNCT
fumecheng-13939	609	38	ieee	ieee	NOUN
fumecheng-13939	609	39	internet	internet	NOUN
fumecheng-13939	609	40	of	of	ADP
fumecheng-13939	609	41	things	thing	NOUN
fumecheng-13939	609	42	journal	journal	NOUN
fumecheng-13939	609	43	,	,	PUNCT
fumecheng-13939	609	44	11(23	11(23	NOUN
fumecheng-13939	609	45	)	)	PUNCT
fumecheng-13939	609	46	,	,	PUNCT
fumecheng-13939	609	47	pp	pp	ADP
fumecheng-13939	609	48	.	.	PUNCT
fumecheng-13939	609	49	3804038053	3804038053	NUM
fumecheng-13939	609	50	.	.	PUNCT
fumecheng-13939	610	1	7	7	X
fumecheng-13939	610	2	.	.	X
fumecheng-13939	610	3	amhaz	amhaz	PROPN
fumecheng-13939	610	4	,	,	PUNCT
fumecheng-13939	610	5	a.	a.	PROPN
fumecheng-13939	610	6	,	,	PUNCT
fumecheng-13939	610	7	elhattab	elhattab	PROPN
fumecheng-13939	610	8	,	,	PUNCT
fumecheng-13939	610	9	m.	m.	NOUN
fumecheng-13939	610	10	,	,	PUNCT
fumecheng-13939	610	11	sharafeddine	sharafeddine	PROPN
fumecheng-13939	610	12	s.	s.	PROPN
fumecheng-13939	610	13	,	,	PUNCT
fumecheng-13939	610	14	assi	assi	PROPN
fumecheng-13939	610	15	,	,	PUNCT
fumecheng-13939	610	16	c.	c.	PROPN
fumecheng-13939	610	17	,	,	PUNCT
fumecheng-13939	610	18	2024	2024	NUM
fumecheng-13939	610	19	,	,	PUNCT
fumecheng-13939	610	20	uav	uav	PROPN
fumecheng-13939	610	21	-	-	PUNCT
fumecheng-13939	610	22	assisted	assist	VERB
fumecheng-13939	610	23	cooperative	cooperative	ADJ
fumecheng-13939	610	24	downlink	downlink	NOUN
fumecheng-13939	610	25	noma	noma	PROPN
fumecheng-13939	610	26	:	:	PUNCT
fumecheng-13939	610	27	deployment	deployment	NOUN
fumecheng-13939	610	28	and	and	CCONJ
fumecheng-13939	610	29	resource	resource	NOUN
fumecheng-13939	610	30	allocation	allocation	NOUN
fumecheng-13939	610	31	,	,	PUNCT
fumecheng-13939	610	32	ieee	ieee	NOUN
fumecheng-13939	610	33	transactions	transaction	NOUN
fumecheng-13939	610	34	on	on	ADP
fumecheng-13939	610	35	vehicular	vehicular	ADJ
fumecheng-13939	610	36	technology	technology	NOUN
fumecheng-13939	610	37	,	,	PUNCT
fumecheng-13939	610	38	73(9	73(9	NUM
fumecheng-13939	610	39	)	)	PUNCT
fumecheng-13939	610	40	,	,	PUNCT
fumecheng-13939	610	41	pp	pp	PROPN
fumecheng-13939	610	42	.	.	PUNCT
fumecheng-13939	611	1	13651	13651	NUM
fumecheng-13939	611	2	-	-	SYM
fumecheng-13939	611	3	13664	13664	NUM
fumecheng-13939	611	4	.	.	PUNCT
fumecheng-13939	612	1	8	8	X
fumecheng-13939	612	2	.	.	X
fumecheng-13939	613	1	singh	singh	PROPN
fumecheng-13939	613	2	,	,	PUNCT
fumecheng-13939	613	3	c.k	c.k	PROPN
fumecheng-13939	613	4	.	.	PROPN
fumecheng-13939	613	5	,	,	PUNCT
fumecheng-13939	613	6	upadhyay	upadhyay	PROPN
fumecheng-13939	613	7	,	,	PUNCT
fumecheng-13939	613	8	p.k	p.k	PROPN
fumecheng-13939	613	9	.	.	PROPN
fumecheng-13939	613	10	,	,	PUNCT
fumecheng-13939	613	11	lehtomäki	lehtomäki	PROPN
fumecheng-13939	613	12	,	,	PUNCT
fumecheng-13939	613	13	j.	j.	PROPN
fumecheng-13939	613	14	,	,	PUNCT
fumecheng-13939	613	15	juntti	juntti	PROPN
fumecheng-13939	613	16	,	,	PUNCT
fumecheng-13939	613	17	m.	m.	NOUN
fumecheng-13939	613	18	,	,	PUNCT
fumecheng-13939	613	19	2023	2023	NUM
fumecheng-13939	613	20	,	,	PUNCT
fumecheng-13939	613	21	performance	performance	NOUN
fumecheng-13939	613	22	analysis	analysis	NOUN
fumecheng-13939	613	23	with	with	ADP
fumecheng-13939	613	24	deep	deep	ADJ
fumecheng-13939	613	25	learning	learning	NOUN
fumecheng-13939	613	26	assay	assay	VERB
fumecheng-13939	613	27	for	for	ADP
fumecheng-13939	613	28	cooperative	cooperative	ADJ
fumecheng-13939	613	29	uav	uav	PROPN
fumecheng-13939	613	30	-	-	PUNCT
fumecheng-13939	613	31	borne	bear	VERB
fumecheng-13939	613	32	irs	irs	PROPN
fumecheng-13939	613	33	noma	noma	PROPN
fumecheng-13939	613	34	networks	network	NOUN
fumecheng-13939	613	35	under	under	ADP
fumecheng-13939	613	36	non	non	ADJ
fumecheng-13939	613	37	-	-	ADJ
fumecheng-13939	613	38	ideal	ideal	ADJ
fumecheng-13939	613	39	system	system	NOUN
fumecheng-13939	613	40	imperfections	imperfection	NOUN
fumecheng-13939	613	41	,	,	PUNCT
fumecheng-13939	613	42	ieee	ieee	NOUN
fumecheng-13939	613	43	transactions	transaction	NOUN
fumecheng-13939	613	44	on	on	ADP
fumecheng-13939	613	45	vehicular	vehicular	ADJ
fumecheng-13939	613	46	technology	technology	NOUN
fumecheng-13939	613	47	,	,	PUNCT
fumecheng-13939	613	48	73(1	73(1	NUM
fumecheng-13939	613	49	)	)	PUNCT
fumecheng-13939	613	50	,	,	PUNCT
fumecheng-13939	613	51	pp	pp	PROPN
fumecheng-13939	613	52	.	.	PUNCT
fumecheng-13939	614	1	1065	1065	NUM
fumecheng-13939	614	2	-	-	SYM
fumecheng-13939	614	3	1083	1083	NUM
fumecheng-13939	614	4	.	.	PUNCT
fumecheng-13939	615	1	9	9	X
fumecheng-13939	615	2	.	.	X
fumecheng-13939	615	3	dong	dong	PROPN
fumecheng-13939	615	4	,	,	PUNCT
fumecheng-13939	615	5	x.w	x.w	PROPN
fumecheng-13939	615	6	.	.	PROPN
fumecheng-13939	615	7	,	,	PUNCT
fumecheng-13939	615	8	hua	hua	PROPN
fumecheng-13939	615	9	,	,	PUNCT
fumecheng-13939	615	10	y.z	y.z	PROPN
fumecheng-13939	615	11	.	.	PROPN
fumecheng-13939	615	12	,	,	PUNCT
fumecheng-13939	615	13	zhou	zhou	PROPN
fumecheng-13939	615	14	,	,	PUNCT
fumecheng-13939	615	15	y.	y.	PROPN
fumecheng-13939	615	16	,	,	PUNCT
fumecheng-13939	615	17	ren	ren	PROPN
fumecheng-13939	615	18	,	,	PUNCT
fumecheng-13939	615	19	z.	z.	PROPN
fumecheng-13939	615	20	,	,	PUNCT
fumecheng-13939	615	21	zhong	zhong	PROPN
fumecheng-13939	615	22	,	,	PUNCT
fumecheng-13939	615	23	y.s	y.s	PROPN
fumecheng-13939	615	24	.	.	PROPN
fumecheng-13939	615	25	,	,	PUNCT
fumecheng-13939	615	26	2018	2018	NUM
fumecheng-13939	615	27	,	,	PUNCT
fumecheng-13939	615	28	theory	theory	NOUN
fumecheng-13939	615	29	and	and	CCONJ
fumecheng-13939	615	30	experiment	experiment	NOUN
fumecheng-13939	615	31	on	on	ADP
fumecheng-13939	615	32	formationcontainment	formationcontainment	NOUN
fumecheng-13939	615	33	control	control	NOUN
fumecheng-13939	615	34	of	of	ADP
fumecheng-13939	615	35	multiple	multiple	ADJ
fumecheng-13939	615	36	multirotor	multirotor	PROPN
fumecheng-13939	615	37	unmanned	unmanned	ADJ
fumecheng-13939	615	38	aerial	aerial	ADJ
fumecheng-13939	615	39	vehicle	vehicle	NOUN
fumecheng-13939	615	40	systems	system	NOUN
fumecheng-13939	615	41	,	,	PUNCT
fumecheng-13939	615	42	ieee	ieee	NOUN
fumecheng-13939	615	43	transactions	transaction	NOUN
fumecheng-13939	615	44	on	on	ADP
fumecheng-13939	615	45	automation	automation	NOUN
fumecheng-13939	615	46	science	science	NOUN
fumecheng-13939	615	47	and	and	CCONJ
fumecheng-13939	615	48	engineering	engineering	NOUN
fumecheng-13939	615	49	,	,	PUNCT
fumecheng-13939	615	50	16(1	16(1	NUM
fumecheng-13939	615	51	)	)	PUNCT
fumecheng-13939	615	52	,	,	PUNCT
fumecheng-13939	615	53	pp	pp	PROPN
fumecheng-13939	615	54	.	.	PUNCT
fumecheng-13939	616	1	229	229	NUM
fumecheng-13939	616	2	-	-	SYM
fumecheng-13939	616	3	240	240	NUM
fumecheng-13939	616	4	.	.	PUNCT
fumecheng-13939	617	1	10	10	NUM
fumecheng-13939	617	2	.	.	PUNCT
fumecheng-13939	618	1	liao	liao	PROPN
fumecheng-13939	618	2	,	,	PUNCT
fumecheng-13939	618	3	f.	f.	PROPN
fumecheng-13939	618	4	,	,	PUNCT
fumecheng-13939	618	5	teo	teo	PROPN
fumecheng-13939	618	6	,	,	PUNCT
fumecheng-13939	618	7	r.	r.	PROPN
fumecheng-13939	618	8	,	,	PUNCT
fumecheng-13939	618	9	wang	wang	PROPN
fumecheng-13939	618	10	,	,	PUNCT
fumecheng-13939	618	11	j.l	j.l	PROPN
fumecheng-13939	618	12	.	.	PROPN
fumecheng-13939	618	13	,	,	PUNCT
fumecheng-13939	618	14	dong	dong	PROPN
fumecheng-13939	618	15	,	,	PUNCT
fumecheng-13939	618	16	x.x	x.x	PROPN
fumecheng-13939	618	17	.	.	PROPN
fumecheng-13939	618	18	,	,	PUNCT
fumecheng-13939	618	19	lin	lin	PROPN
fumecheng-13939	618	20	f.	f.	PROPN
fumecheng-13939	618	21	,	,	PUNCT
fumecheng-13939	618	22	peng	peng	PROPN
fumecheng-13939	618	23	,	,	PUNCT
fumecheng-13939	618	24	k.	k.	PROPN
fumecheng-13939	618	25	,	,	PUNCT
fumecheng-13939	618	26	2017	2017	NUM
fumecheng-13939	618	27	,	,	PUNCT
fumecheng-13939	618	28	distributed	distribute	VERB
fumecheng-13939	618	29	formation	formation	NOUN
fumecheng-13939	618	30	and	and	CCONJ
fumecheng-13939	618	31	reconfiguration	reconfiguration	NOUN
fumecheng-13939	618	32	control	control	NOUN
fumecheng-13939	618	33	of	of	ADP
fumecheng-13939	618	34	vtol	vtol	PROPN
fumecheng-13939	618	35	uavs	uavs	PROPN
fumecheng-13939	618	36	,	,	PUNCT
fumecheng-13939	618	37	ieee	ieee	NOUN
fumecheng-13939	618	38	transactions	transaction	NOUN
fumecheng-13939	618	39	on	on	ADP
fumecheng-13939	618	40	control	control	NOUN
fumecheng-13939	618	41	systems	system	NOUN
fumecheng-13939	618	42	technology	technology	NOUN
fumecheng-13939	618	43	,	,	PUNCT
fumecheng-13939	618	44	25(1	25(1	NUM
fumecheng-13939	618	45	)	)	PUNCT
fumecheng-13939	618	46	,	,	PUNCT
fumecheng-13939	618	47	pp	pp	PROPN
fumecheng-13939	618	48	.	.	PUNCT
fumecheng-13939	619	1	270	270	NUM
fumecheng-13939	619	2	-	-	SYM
fumecheng-13939	619	3	277	277	NUM
fumecheng-13939	619	4	.	.	PUNCT
fumecheng-13939	620	1	11	11	NUM
fumecheng-13939	620	2	.	.	PUNCT
fumecheng-13939	621	1	kang	kang	PROPN
fumecheng-13939	621	2	,	,	PUNCT
fumecheng-13939	621	3	s.m	s.m	PROPN
fumecheng-13939	621	4	.	.	PROPN
fumecheng-13939	621	5	,	,	PUNCT
fumecheng-13939	621	6	park	park	PROPN
fumecheng-13939	621	7	,	,	PUNCT
fumecheng-13939	621	8	m.c	m.c	PROPN
fumecheng-13939	621	9	.	.	PROPN
fumecheng-13939	621	10	,	,	PUNCT
fumecheng-13939	621	11	ahn	ahn	PROPN
fumecheng-13939	621	12	,	,	PUNCT
fumecheng-13939	621	13	h.s	h.s	PROPN
fumecheng-13939	621	14	.	.	PROPN
fumecheng-13939	621	15	,	,	PUNCT
fumecheng-13939	621	16	2017	2017	NUM
fumecheng-13939	621	17	,	,	PUNCT
fumecheng-13939	621	18	distance	distance	NOUN
fumecheng-13939	621	19	-	-	PUNCT
fumecheng-13939	621	20	based	base	VERB
fumecheng-13939	621	21	cycle	cycle	NOUN
fumecheng-13939	621	22	-	-	PUNCT
fumecheng-13939	621	23	free	free	ADJ
fumecheng-13939	621	24	persistent	persistent	ADJ
fumecheng-13939	621	25	formation	formation	NOUN
fumecheng-13939	621	26	:	:	PUNCT
fumecheng-13939	621	27	global	global	ADJ
fumecheng-13939	621	28	convergence	convergence	NOUN
fumecheng-13939	621	29	and	and	CCONJ
fumecheng-13939	621	30	experimental	experimental	ADJ
fumecheng-13939	621	31	test	test	NOUN
fumecheng-13939	621	32	with	with	ADP
fumecheng-13939	621	33	a	a	DET
fumecheng-13939	621	34	group	group	NOUN
fumecheng-13939	621	35	of	of	ADP
fumecheng-13939	621	36	quadcopters	quadcopter	NOUN
fumecheng-13939	621	37	,	,	PUNCT
fumecheng-13939	621	38	ieee	ieee	NOUN
fumecheng-13939	621	39	transactions	transaction	NOUN
fumecheng-13939	621	40	on	on	ADP
fumecheng-13939	621	41	industrial	industrial	ADJ
fumecheng-13939	621	42	electronics	electronic	NOUN
fumecheng-13939	621	43	,	,	PUNCT
fumecheng-13939	621	44	64(1	64(1	NUM
fumecheng-13939	621	45	)	)	PUNCT
fumecheng-13939	621	46	,	,	PUNCT
fumecheng-13939	621	47	pp	pp	PROPN
fumecheng-13939	621	48	.	.	PUNCT
fumecheng-13939	622	1	380	380	NUM
fumecheng-13939	622	2	-	-	SYM
fumecheng-13939	622	3	389	389	NUM
fumecheng-13939	622	4	.	.	PUNCT
fumecheng-13939	623	1	12	12	NUM
fumecheng-13939	623	2	.	.	PUNCT
fumecheng-13939	624	1	belkadi	belkadi	NOUN
fumecheng-13939	624	2	,	,	PUNCT
fumecheng-13939	624	3	a.	a.	NOUN
fumecheng-13939	624	4	,	,	PUNCT
fumecheng-13939	624	5	abaunza	abaunza	PROPN
fumecheng-13939	624	6	,	,	PUNCT
fumecheng-13939	624	7	h.	h.	PROPN
fumecheng-13939	624	8	,	,	PUNCT
fumecheng-13939	624	9	ciarletta	ciarletta	PROPN
fumecheng-13939	624	10	,	,	PUNCT
fumecheng-13939	624	11	l.	l.	PROPN
fumecheng-13939	624	12	,	,	PUNCT
fumecheng-13939	624	13	castillo	castillo	PROPN
fumecheng-13939	624	14	,	,	PUNCT
fumecheng-13939	624	15	p.	p.	PROPN
fumecheng-13939	624	16	,	,	PUNCT
fumecheng-13939	624	17	theilliol	theilliol	PROPN
fumecheng-13939	624	18	,	,	PUNCT
fumecheng-13939	624	19	d.	d.	PROPN
fumecheng-13939	624	20	,	,	PUNCT
fumecheng-13939	624	21	2019	2019	NUM
fumecheng-13939	624	22	,	,	PUNCT
fumecheng-13939	624	23	design	design	NOUN
fumecheng-13939	624	24	and	and	CCONJ
fumecheng-13939	624	25	implementation	implementation	NOUN
fumecheng-13939	624	26	of	of	ADP
fumecheng-13939	624	27	distributed	distribute	VERB
fumecheng-13939	624	28	path	path	NOUN
fumecheng-13939	624	29	planning	planning	NOUN
fumecheng-13939	624	30	algorithm	algorithm	NOUN
fumecheng-13939	624	31	for	for	ADP
fumecheng-13939	624	32	a	a	DET
fumecheng-13939	624	33	fleet	fleet	NOUN
fumecheng-13939	624	34	of	of	ADP
fumecheng-13939	624	35	uavs	uavs	PROPN
fumecheng-13939	624	36	,	,	PUNCT
fumecheng-13939	624	37	ieee	ieee	NOUN
fumecheng-13939	624	38	transactions	transaction	NOUN
fumecheng-13939	624	39	on	on	ADP
fumecheng-13939	624	40	aerospace	aerospace	NOUN
fumecheng-13939	624	41	and	and	CCONJ
fumecheng-13939	624	42	electronic	electronic	ADJ
fumecheng-13939	624	43	systems	system	NOUN
fumecheng-13939	624	44	,	,	PUNCT
fumecheng-13939	624	45	55(6	55(6	NUM
fumecheng-13939	624	46	)	)	PUNCT
fumecheng-13939	624	47	,	,	PUNCT
fumecheng-13939	624	48	pp	pp	ADP
fumecheng-13939	624	49	.	.	PUNCT
fumecheng-13939	625	1	2647	2647	NUM
fumecheng-13939	625	2	-	-	SYM
fumecheng-13939	625	3	2657	2657	NUM
fumecheng-13939	625	4	.	.	PUNCT
fumecheng-13939	626	1	13	13	NUM
fumecheng-13939	626	2	.	.	X
fumecheng-13939	626	3	yang	yang	PROPN
fumecheng-13939	626	4	,	,	PUNCT
fumecheng-13939	626	5	q.q	q.q	PROPN
fumecheng-13939	626	6	.	.	PROPN
fumecheng-13939	626	7	,	,	PUNCT
fumecheng-13939	626	8	chen	chen	PROPN
fumecheng-13939	626	9	,	,	PUNCT
fumecheng-13939	626	10	j.	j.	PROPN
fumecheng-13939	626	11	,	,	PUNCT
fumecheng-13939	626	12	peng	peng	PROPN
fumecheng-13939	626	13	,	,	PUNCT
fumecheng-13939	626	14	y.	y.	PROPN
fumecheng-13939	626	15	,	,	PUNCT
fumecheng-13939	626	16	2023	2023	NUM
fumecheng-13939	626	17	,	,	PUNCT
fumecheng-13939	626	18	unmanned	unmanned	ADJ
fumecheng-13939	626	19	aerial	aerial	ADJ
fumecheng-13939	626	20	vehicle	vehicle	NOUN
fumecheng-13939	626	21	trajectory	trajectory	NOUN
fumecheng-13939	626	22	planning	planning	NOUN
fumecheng-13939	626	23	and	and	CCONJ
fumecheng-13939	626	24	power	power	NOUN
fumecheng-13939	626	25	control	control	NOUN
fumecheng-13939	626	26	algorithm	algorithm	NOUN
fumecheng-13939	626	27	based	base	VERB
fumecheng-13939	626	28	on	on	ADP
fumecheng-13939	626	29	deep	deep	ADJ
fumecheng-13939	626	30	deterministic	deterministic	ADJ
fumecheng-13939	626	31	policy	policy	NOUN
fumecheng-13939	626	32	gradient	gradient	NOUN
fumecheng-13939	626	33	,	,	PUNCT
fumecheng-13939	626	34	journal	journal	NOUN
fumecheng-13939	626	35	of	of	ADP
fumecheng-13939	626	36	beijing	beijing	PROPN
fumecheng-13939	626	37	university	university	PROPN
fumecheng-13939	626	38	of	of	ADP
fumecheng-13939	626	39	posts	post	NOUN
fumecheng-13939	626	40	and	and	CCONJ
fumecheng-13939	626	41	telecommunications	telecommunication	NOUN
fumecheng-13939	626	42	,	,	PUNCT
fumecheng-13939	626	43	46(3	46(3	NOUN
fumecheng-13939	626	44	)	)	PUNCT
fumecheng-13939	626	45	,	,	PUNCT
fumecheng-13939	626	46	pp	pp	ADP
fumecheng-13939	626	47	.	.	PUNCT
fumecheng-13939	627	1	43	43	NUM
fumecheng-13939	627	2	-	-	SYM
fumecheng-13939	627	3	48	48	NUM
fumecheng-13939	627	4	.	.	PUNCT
fumecheng-13939	628	1	14	14	NUM
fumecheng-13939	628	2	.	.	PUNCT
fumecheng-13939	629	1	liu	liu	PROPN
fumecheng-13939	629	2	,	,	PUNCT
fumecheng-13939	629	3	j.y	j.y	PROPN
fumecheng-13939	629	4	.	.	PROPN
fumecheng-13939	629	5	,	,	PUNCT
fumecheng-13939	629	6	jiang	jiang	PROPN
fumecheng-13939	629	7	,	,	PUNCT
fumecheng-13939	629	8	f.b	f.b	PROPN
fumecheng-13939	629	9	.	.	PROPN
fumecheng-13939	629	10	,	,	PUNCT
fumecheng-13939	629	11	peng	peng	PROPN
fumecheng-13939	629	12	,	,	PUNCT
fumecheng-13939	629	13	y.b	y.b	PROPN
fumecheng-13939	629	14	.	.	PROPN
fumecheng-13939	629	15	,	,	PUNCT
fumecheng-13939	629	16	dong	dong	PROPN
fumecheng-13939	629	17	,	,	PUNCT
fumecheng-13939	629	18	l.	l.	PROPN
fumecheng-13939	629	19	,	,	PUNCT
fumecheng-13939	629	20	2024	2024	NUM
fumecheng-13939	629	21	,	,	PUNCT
fumecheng-13939	629	22	multi	multi	ADJ
fumecheng-13939	629	23	-	-	ADJ
fumecheng-13939	629	24	objective	objective	ADJ
fumecheng-13939	629	25	optimization	optimization	NOUN
fumecheng-13939	629	26	for	for	ADP
fumecheng-13939	629	27	unmanned	unmanned	ADJ
fumecheng-13939	629	28	aerial	aerial	ADJ
fumecheng-13939	629	29	vehicles	vehicle	NOUN
fumecheng-13939	629	30	trajectory	trajectory	NOUN
fumecheng-13939	629	31	model	model	NOUN
fumecheng-13939	629	32	based	base	VERB
fumecheng-13939	629	33	on	on	ADP
fumecheng-13939	629	34	decomposition	decomposition	NOUN
fumecheng-13939	629	35	and	and	CCONJ
fumecheng-13939	629	36	trajectory	trajectory	NOUN
fumecheng-13939	629	37	search	search	NOUN
fumecheng-13939	629	38	,	,	PUNCT
fumecheng-13939	629	39	journal	journal	NOUN
fumecheng-13939	629	40	of	of	ADP
fumecheng-13939	629	41	computer	computer	NOUN
fumecheng-13939	629	42	applications	application	NOUN
fumecheng-13939	629	43	,	,	PUNCT
fumecheng-13939	629	44	43(12	43(12	NUM
fumecheng-13939	629	45	)	)	PUNCT
fumecheng-13939	629	46	,	,	PUNCT
fumecheng-13939	629	47	pp	pp	PROPN
fumecheng-13939	629	48	.	.	PUNCT
fumecheng-13939	630	1	3806	3806	NUM
fumecheng-13939	630	2	-	-	SYM
fumecheng-13939	630	3	3815	3815	NUM
fumecheng-13939	630	4	.	.	PUNCT
fumecheng-13939	631	1	15	15	NUM
fumecheng-13939	631	2	.	.	X
fumecheng-13939	632	1	gupta	gupta	PROPN
fumecheng-13939	632	2	,	,	PUNCT
fumecheng-13939	632	3	l.	l.	PROPN
fumecheng-13939	632	4	,	,	PUNCT
fumecheng-13939	632	5	jain	jain	PROPN
fumecheng-13939	632	6	,	,	PUNCT
fumecheng-13939	632	7	r.	r.	PROPN
fumecheng-13939	632	8	,	,	PUNCT
fumecheng-13939	632	9	g.	g.	PROPN
fumecheng-13939	632	10	vaszkun	vaszkun	PROPN
fumecheng-13939	632	11	,	,	PUNCT
fumecheng-13939	632	12	g.	g.	PROPN
fumecheng-13939	632	13	,	,	PUNCT
fumecheng-13939	632	14	2016	2016	NUM
fumecheng-13939	632	15	,	,	PUNCT
fumecheng-13939	632	16	survey	survey	NOUN
fumecheng-13939	632	17	of	of	ADP
fumecheng-13939	632	18	important	important	ADJ
fumecheng-13939	632	19	issues	issue	NOUN
fumecheng-13939	632	20	in	in	ADP
fumecheng-13939	632	21	uav	uav	PROPN
fumecheng-13939	632	22	communication	communication	NOUN
fumecheng-13939	632	23	networks	network	NOUN
fumecheng-13939	632	24	,	,	PUNCT
fumecheng-13939	632	25	ieee	ieee	NOUN
fumecheng-13939	632	26	communications	communication	NOUN
fumecheng-13939	632	27	surveys	survey	NOUN
fumecheng-13939	632	28	&	&	CCONJ
fumecheng-13939	632	29	tutorials	tutorial	NOUN
fumecheng-13939	632	30	,	,	PUNCT
fumecheng-13939	632	31	18(2	18(2	NUM
fumecheng-13939	632	32	)	)	PUNCT
fumecheng-13939	632	33	,	,	PUNCT
fumecheng-13939	632	34	pp	pp	ADJ
fumecheng-13939	632	35	.	.	PUNCT
fumecheng-13939	632	36	1123	1123	NUM
fumecheng-13939	632	37	-	-	SYM
fumecheng-13939	632	38	1152	1152	NUM
fumecheng-13939	632	39	.	.	PUNCT
fumecheng-13939	633	1	16	16	NUM
fumecheng-13939	633	2	.	.	PUNCT
fumecheng-13939	634	1	lin	lin	PROPN
fumecheng-13939	634	2	,	,	PUNCT
fumecheng-13939	634	3	h.w	h.w	PROPN
fumecheng-13939	634	4	.	.	PROPN
fumecheng-13939	634	5	,	,	PUNCT
fumecheng-13939	634	6	zhao	zhao	PROPN
fumecheng-13939	634	7	,	,	PUNCT
fumecheng-13939	634	8	b.	b.	PROPN
fumecheng-13939	634	9	,	,	PUNCT
fumecheng-13939	634	10	liu	liu	PROPN
fumecheng-13939	634	11	,	,	PUNCT
fumecheng-13939	634	12	d.r	d.r	PROPN
fumecheng-13939	634	13	.	.	PROPN
fumecheng-13939	634	14	,	,	PUNCT
fumecheng-13939	634	15	alippi	alippi	PROPN
fumecheng-13939	634	16	,	,	PUNCT
fumecheng-13939	634	17	c.	c.	PROPN
fumecheng-13939	634	18	,	,	PUNCT
fumecheng-13939	634	19	2020	2020	NUM
fumecheng-13939	634	20	,	,	PUNCT
fumecheng-13939	634	21	data	data	NOUN
fumecheng-13939	634	22	-	-	PUNCT
fumecheng-13939	634	23	based	base	VERB
fumecheng-13939	634	24	fault	fault	NOUN
fumecheng-13939	634	25	tolerant	tolerant	ADJ
fumecheng-13939	634	26	control	control	NOUN
fumecheng-13939	634	27	for	for	ADP
fumecheng-13939	634	28	affine	affine	NOUN
fumecheng-13939	634	29	nonlinear	nonlinear	PROPN
fumecheng-13939	634	30	systems	system	NOUN
fumecheng-13939	634	31	through	through	ADP
fumecheng-13939	634	32	particle	particle	NOUN
fumecheng-13939	634	33	swarm	swarm	NOUN
fumecheng-13939	634	34	optimized	optimize	VERB
fumecheng-13939	634	35	neural	neural	ADJ
fumecheng-13939	634	36	networks	network	NOUN
fumecheng-13939	634	37	,	,	PUNCT
fumecheng-13939	634	38	ieee	ieee	NOUN
fumecheng-13939	634	39	/	/	SYM
fumecheng-13939	634	40	caa	caa	PROPN
fumecheng-13939	634	41	journal	journal	PROPN
fumecheng-13939	634	42	of	of	ADP
fumecheng-13939	634	43	automatica	automatica	PROPN
fumecheng-13939	634	44	sinica	sinica	PROPN
fumecheng-13939	634	45	,	,	PUNCT
fumecheng-13939	634	46	7(4	7(4	NUM
fumecheng-13939	634	47	)	)	PUNCT
fumecheng-13939	634	48	,	,	PUNCT
fumecheng-13939	634	49	pp	pp	ADP
fumecheng-13939	634	50	.	.	PUNCT
fumecheng-13939	635	1	954964	954964	NUM
fumecheng-13939	635	2	.	.	PUNCT
fumecheng-13939	636	1	17	17	NUM
fumecheng-13939	636	2	.	.	PUNCT
fumecheng-13939	637	1	patton	patton	PROPN
fumecheng-13939	637	2	,	,	PUNCT
fumecheng-13939	637	3	r.j	r.j	PROPN
fumecheng-13939	637	4	.	.	PROPN
fumecheng-13939	637	5	,	,	PUNCT
fumecheng-13939	637	6	frank	frank	PROPN
fumecheng-13939	637	7	,	,	PUNCT
fumecheng-13939	637	8	p.m.	p.m.	NOUN
fumecheng-13939	637	9	,	,	PUNCT
fumecheng-13939	637	10	clark	clark	PROPN
fumecheng-13939	637	11	,	,	PUNCT
fumecheng-13939	637	12	r.n	r.n	PROPN
fumecheng-13939	637	13	.	.	PROPN
fumecheng-13939	637	14	,	,	PUNCT
fumecheng-13939	637	15	2000	2000	NUM
fumecheng-13939	637	16	,	,	PUNCT
fumecheng-13939	637	17	issues	issue	NOUN
fumecheng-13939	637	18	of	of	ADP
fumecheng-13939	637	19	fault	fault	NOUN
fumecheng-13939	637	20	diagnosis	diagnosis	NOUN
fumecheng-13939	637	21	for	for	ADP
fumecheng-13939	637	22	dynamic	dynamic	ADJ
fumecheng-13939	637	23	systems	system	NOUN
fumecheng-13939	637	24	,	,	PUNCT
fumecheng-13939	637	25	spring	spring	NOUN
fumecheng-13939	637	26	-	-	PUNCT
fumecheng-13939	637	27	verlag	verlag	PROPN
fumecheng-13939	637	28	,	,	PUNCT
fumecheng-13939	637	29	london	london	PROPN
fumecheng-13939	637	30	.	.	PUNCT
fumecheng-13939	638	1	18	18	NUM
fumecheng-13939	638	2	.	.	PUNCT
fumecheng-13939	639	1	hasanshahi	hasanshahi	PROPN
fumecheng-13939	639	2	,	,	PUNCT
fumecheng-13939	639	3	m.	m.	NOUN
fumecheng-13939	639	4	,	,	PUNCT
fumecheng-13939	639	5	ahmadi	ahmadi	PROPN
fumecheng-13939	639	6	,	,	PUNCT
fumecheng-13939	639	7	a.a	a.a	PROPN
fumecheng-13939	639	8	.	.	PROPN
fumecheng-13939	639	9	,	,	PUNCT
fumecheng-13939	639	10	amjadifard	amjadifard	PROPN
fumecheng-13939	639	11	,	,	PUNCT
fumecheng-13939	639	12	r.	r.	PROPN
fumecheng-13939	639	13	,	,	PUNCT
fumecheng-13939	639	14	2019	2019	NUM
fumecheng-13939	639	15	,	,	PUNCT
fumecheng-13939	639	16	robust	robust	ADJ
fumecheng-13939	639	17	fault	fault	NOUN
fumecheng-13939	639	18	tolerant	tolerant	ADJ
fumecheng-13939	639	19	position	position	NOUN
fumecheng-13939	639	20	tracking	track	VERB
fumecheng-13939	639	21	control	control	NOUN
fumecheng-13939	639	22	for	for	ADP
fumecheng-13939	639	23	a	a	DET
fumecheng-13939	639	24	quadrotor	quadrotor	NOUN
fumecheng-13939	639	25	uav	uav	PROPN
fumecheng-13939	639	26	in	in	ADP
fumecheng-13939	639	27	presence	presence	NOUN
fumecheng-13939	639	28	of	of	ADP
fumecheng-13939	639	29	actuator	actuator	NOUN
fumecheng-13939	639	30	faults	fault	NOUN
fumecheng-13939	639	31	,	,	PUNCT
fumecheng-13939	639	32	2019	2019	NUM
fumecheng-13939	639	33	6th	6th	ADJ
fumecheng-13939	639	34	international	international	ADJ
fumecheng-13939	639	35	conference	conference	NOUN
fumecheng-13939	639	36	on	on	ADP
fumecheng-13939	639	37	control	control	NOUN
fumecheng-13939	639	38	,	,	PUNCT
fumecheng-13939	639	39	instrumentation	instrumentation	NOUN
fumecheng-13939	639	40	and	and	CCONJ
fumecheng-13939	639	41	automation	automation	NOUN
fumecheng-13939	639	42	(	(	PUNCT
fumecheng-13939	639	43	iccia	iccia	NOUN
fumecheng-13939	639	44	)	)	PUNCT
fumecheng-13939	639	45	,	,	PUNCT
fumecheng-13939	639	46	sanandaj	sanandaj	NOUN
fumecheng-13939	639	47	,	,	PUNCT
fumecheng-13939	639	48	iran	iran	PROPN
fumecheng-13939	639	49	,	,	PUNCT
fumecheng-13939	639	50	pp	pp	ADJ
fumecheng-13939	639	51	.	.	PUNCT
fumecheng-13939	640	1	1	1	NUM
fumecheng-13939	640	2	-	-	SYM
fumecheng-13939	640	3	6	6	NUM
fumecheng-13939	640	4	.	.	NUM
fumecheng-13939	640	5	24	24	NUM
fumecheng-13939	640	6	l.	l.	PROPN
fumecheng-13939	640	7	xu	xu	PROPN
fumecheng-13939	641	1	19	19	NUM
fumecheng-13939	641	2	.	.	X
fumecheng-13939	642	1	yang	yang	PROPN
fumecheng-13939	642	2	,	,	PUNCT
fumecheng-13939	642	3	x.f	x.f	PROPN
fumecheng-13939	642	4	.	.	PROPN
fumecheng-13939	642	5	,	,	PUNCT
fumecheng-13939	642	6	hu	hu	PROPN
fumecheng-13939	642	7	,	,	PUNCT
fumecheng-13939	642	8	x.b	x.b	PROPN
fumecheng-13939	642	9	.	.	PROPN
fumecheng-13939	642	10	,	,	PUNCT
fumecheng-13939	642	11	ye	ye	PROPN
fumecheng-13939	642	12	,	,	PUNCT
fumecheng-13939	642	13	h.	h.	PROPN
fumecheng-13939	642	14	,	,	PUNCT
fumecheng-13939	642	15	liu	liu	PROPN
fumecheng-13939	642	16	,	,	PUNCT
fumecheng-13939	642	17	w.	w.	PROPN
fumecheng-13939	642	18	,	,	PUNCT
fumecheng-13939	642	19	shen	shen	PROPN
fumecheng-13939	642	20	,	,	PUNCT
fumecheng-13939	642	21	h.	h.	PROPN
fumecheng-13939	642	22	,	,	PUNCT
fumecheng-13939	642	23	2023	2023	NUM
fumecheng-13939	642	24	,	,	PUNCT
fumecheng-13939	642	25	fraction	fraction	NOUN
fumecheng-13939	642	26	-	-	PUNCT
fumecheng-13939	642	27	order	order	NOUN
fumecheng-13939	642	28	mrac	mrac	NOUN
fumecheng-13939	642	29	method	method	NOUN
fumecheng-13939	642	30	based	base	VERB
fumecheng-13939	642	31	fault	fault	NOUN
fumecheng-13939	642	32	tolerant	tolerant	ADJ
fumecheng-13939	642	33	control	control	NOUN
fumecheng-13939	642	34	for	for	ADP
fumecheng-13939	642	35	plant	plant	NOUN
fumecheng-13939	642	36	protection	protection	PROPN
fumecheng-13939	642	37	uav	uav	PROPN
fumecheng-13939	642	38	with	with	ADP
fumecheng-13939	642	39	actuator	actuator	NOUN
fumecheng-13939	642	40	failure	failure	NOUN
fumecheng-13939	642	41	and	and	CCONJ
fumecheng-13939	642	42	uncertainty	uncertainty	NOUN
fumecheng-13939	642	43	,	,	PUNCT
fumecheng-13939	642	44	international	international	ADJ
fumecheng-13939	642	45	journal	journal	NOUN
fumecheng-13939	642	46	of	of	ADP
fumecheng-13939	642	47	control	control	NOUN
fumecheng-13939	642	48	,	,	PUNCT
fumecheng-13939	642	49	automation	automation	NOUN
fumecheng-13939	642	50	and	and	CCONJ
fumecheng-13939	642	51	systems	system	NOUN
fumecheng-13939	642	52	,	,	PUNCT
fumecheng-13939	642	53	21(8	21(8	NUM
fumecheng-13939	642	54	)	)	PUNCT
fumecheng-13939	642	55	,	,	PUNCT
fumecheng-13939	642	56	pp	pp	ADJ
fumecheng-13939	642	57	.	.	PUNCT
fumecheng-13939	643	1	2623	2623	NUM
fumecheng-13939	643	2	-	-	SYM
fumecheng-13939	643	3	2633	2633	NUM
fumecheng-13939	643	4	.	.	PUNCT
fumecheng-13939	644	1	20	20	NUM
fumecheng-13939	644	2	.	.	PUNCT
fumecheng-13939	645	1	liu	liu	PROPN
fumecheng-13939	645	2	,	,	PUNCT
fumecheng-13939	645	3	k.	k.	PROPN
fumecheng-13939	645	4	,	,	PUNCT
fumecheng-13939	645	5	wang	wang	PROPN
fumecheng-13939	645	6	,	,	PUNCT
fumecheng-13939	645	7	r.j	r.j	PROPN
fumecheng-13939	645	8	.	.	PROPN
fumecheng-13939	645	9	,	,	PUNCT
fumecheng-13939	645	10	zheng	zheng	PROPN
fumecheng-13939	645	11	,	,	PUNCT
fumecheng-13939	645	12	s.j	s.j	PROPN
fumecheng-13939	645	13	.	.	PROPN
fumecheng-13939	645	14	,	,	PUNCT
fumecheng-13939	645	15	dong	dong	PROPN
fumecheng-13939	645	16	,	,	PUNCT
fumecheng-13939	645	17	s.f	s.f	PROPN
fumecheng-13939	645	18	.	.	PROPN
fumecheng-13939	645	19	,	,	PUNCT
fumecheng-13939	645	20	sun	sun	PROPN
fumecheng-13939	645	21	,	,	PUNCT
fumecheng-13939	645	22	g.w	g.w	PROPN
fumecheng-13939	645	23	.	.	PROPN
fumecheng-13939	645	24	,	,	PUNCT
fumecheng-13939	645	25	2022	2022	NUM
fumecheng-13939	645	26	,	,	PUNCT
fumecheng-13939	645	27	fixed	fix	VERB
fumecheng-13939	645	28	-	-	PUNCT
fumecheng-13939	645	29	time	time	NOUN
fumecheng-13939	645	30	disturbance	disturbance	NOUN
fumecheng-13939	645	31	observer	observer	NOUN
fumecheng-13939	645	32	-	-	PUNCT
fumecheng-13939	645	33	based	base	VERB
fumecheng-13939	645	34	robust	robust	ADJ
fumecheng-13939	645	35	fault	fault	NOUN
fumecheng-13939	645	36	-	-	PUNCT
fumecheng-13939	645	37	tolerant	tolerant	ADJ
fumecheng-13939	645	38	tracking	tracking	NOUN
fumecheng-13939	645	39	control	control	NOUN
fumecheng-13939	645	40	for	for	ADP
fumecheng-13939	645	41	uncertain	uncertain	ADJ
fumecheng-13939	645	42	quadrotor	quadrotor	NOUN
fumecheng-13939	645	43	uav	uav	PROPN
fumecheng-13939	645	44	subject	subject	ADJ
fumecheng-13939	645	45	to	to	ADP
fumecheng-13939	645	46	input	input	NOUN
fumecheng-13939	645	47	delay	delay	NOUN
fumecheng-13939	645	48	,	,	PUNCT
fumecheng-13939	645	49	nonlinear	nonlinear	ADJ
fumecheng-13939	645	50	dynamics	dynamic	NOUN
fumecheng-13939	645	51	,	,	PUNCT
fumecheng-13939	645	52	107(3	107(3	NUM
fumecheng-13939	645	53	)	)	PUNCT
fumecheng-13939	645	54	,	,	PUNCT
fumecheng-13939	645	55	pp	pp	ADJ
fumecheng-13939	645	56	.	.	PUNCT
fumecheng-13939	646	1	2363	2363	NUM
fumecheng-13939	646	2	-	-	SYM
fumecheng-13939	646	3	2390	2390	NUM
fumecheng-13939	646	4	.	.	PUNCT
fumecheng-13939	647	1	21	21	NUM
fumecheng-13939	647	2	.	.	X
fumecheng-13939	648	1	wang	wang	PROPN
fumecheng-13939	648	2	,	,	PUNCT
fumecheng-13939	648	3	z.f	z.f	PROPN
fumecheng-13939	648	4	.	.	PROPN
fumecheng-13939	648	5	,	,	PUNCT
fumecheng-13939	648	6	yu	yu	PROPN
fumecheng-13939	648	7	,	,	PUNCT
fumecheng-13939	648	8	j.g	j.g	PROPN
fumecheng-13939	648	9	.	.	PROPN
fumecheng-13939	648	10	,	,	PUNCT
fumecheng-13939	648	11	lin	lin	PROPN
fumecheng-13939	648	12	,	,	PUNCT
fumecheng-13939	648	13	s.j	s.j	PROPN
fumecheng-13939	648	14	.	.	PROPN
fumecheng-13939	648	15	,	,	PUNCT
fumecheng-13939	648	16	dong	dong	PROPN
fumecheng-13939	648	17	,	,	PUNCT
fumecheng-13939	648	18	j.g	j.g	PROPN
fumecheng-13939	648	19	.	.	PROPN
fumecheng-13939	648	20	,	,	PUNCT
fumecheng-13939	648	21	yu	yu	PROPN
fumecheng-13939	648	22	,	,	PUNCT
fumecheng-13939	648	23	z.	z.	PROPN
fumecheng-13939	648	24	,	,	PUNCT
fumecheng-13939	648	25	2019	2019	NUM
fumecheng-13939	648	26	,	,	PUNCT
fumecheng-13939	648	27	distributed	distribute	VERB
fumecheng-13939	648	28	robust	robust	ADJ
fumecheng-13939	648	29	adaptive	adaptive	ADJ
fumecheng-13939	648	30	fault	fault	NOUN
fumecheng-13939	648	31	-	-	PUNCT
fumecheng-13939	648	32	tolerant	tolerant	ADJ
fumecheng-13939	648	33	mechanism	mechanism	NOUN
fumecheng-13939	648	34	for	for	ADP
fumecheng-13939	648	35	quadrotor	quadrotor	PROPN
fumecheng-13939	648	36	uav	uav	PROPN
fumecheng-13939	648	37	real	real	ADJ
fumecheng-13939	648	38	-	-	PUNCT
fumecheng-13939	648	39	time	time	NOUN
fumecheng-13939	648	40	wireless	wireless	ADJ
fumecheng-13939	648	41	network	network	NOUN
fumecheng-13939	648	42	systems	system	NOUN
fumecheng-13939	648	43	with	with	ADP
fumecheng-13939	648	44	random	random	ADJ
fumecheng-13939	648	45	delay	delay	NOUN
fumecheng-13939	648	46	and	and	CCONJ
fumecheng-13939	648	47	packet	packet	NOUN
fumecheng-13939	648	48	loss	loss	NOUN
fumecheng-13939	648	49	,	,	PUNCT
fumecheng-13939	648	50	ieee	ieee	NOUN
fumecheng-13939	648	51	access	access	NOUN
fumecheng-13939	648	52	,	,	PUNCT
fumecheng-13939	648	53	7	7	NUM
fumecheng-13939	648	54	,	,	PUNCT
fumecheng-13939	648	55	pp	pp	ADJ
fumecheng-13939	648	56	.	.	PUNCT
fumecheng-13939	648	57	134055	134055	NUM
fumecheng-13939	648	58	-	-	SYM
fumecheng-13939	648	59	134062	134062	NUM
fumecheng-13939	648	60	.	.	PUNCT
fumecheng-13939	649	1	22	22	NUM
fumecheng-13939	649	2	.	.	PUNCT
fumecheng-13939	650	1	liu	liu	PROPN
fumecheng-13939	650	2	,	,	PUNCT
fumecheng-13939	650	3	k.	k.	PROPN
fumecheng-13939	650	4	,	,	PUNCT
fumecheng-13939	650	5	wang	wang	PROPN
fumecheng-13939	650	6	,	,	PUNCT
fumecheng-13939	650	7	r.j	r.j	PROPN
fumecheng-13939	650	8	.	.	PROPN
fumecheng-13939	650	9	,	,	PUNCT
fumecheng-13939	650	10	wang	wang	PROPN
fumecheng-13939	650	11	,	,	PUNCT
fumecheng-13939	650	12	x.d	x.d	PROPN
fumecheng-13939	650	13	.	.	PROPN
fumecheng-13939	650	14	,	,	PUNCT
fumecheng-13939	650	15	wang	wang	PROPN
fumecheng-13939	650	16	,	,	PUNCT
fumecheng-13939	650	17	x.x	x.x	PROPN
fumecheng-13939	650	18	.	.	PROPN
fumecheng-13939	650	19	,	,	PUNCT
fumecheng-13939	650	20	2021	2021	NUM
fumecheng-13939	650	21	,	,	PUNCT
fumecheng-13939	650	22	anti	anti	ADJ
fumecheng-13939	650	23	-	-	ADJ
fumecheng-13939	650	24	saturation	saturation	NOUN
fumecheng-13939	650	25	adaptive	adaptive	ADJ
fumecheng-13939	650	26	finite	finite	ADJ
fumecheng-13939	650	27	-	-	PUNCT
fumecheng-13939	650	28	time	time	NOUN
fumecheng-13939	650	29	neural	neural	ADJ
fumecheng-13939	650	30	network	network	NOUN
fumecheng-13939	650	31	based	base	VERB
fumecheng-13939	650	32	fault	fault	NOUN
fumecheng-13939	650	33	-	-	PUNCT
fumecheng-13939	650	34	tolerant	tolerant	ADJ
fumecheng-13939	650	35	tracking	tracking	NOUN
fumecheng-13939	650	36	control	control	NOUN
fumecheng-13939	650	37	for	for	ADP
fumecheng-13939	650	38	a	a	DET
fumecheng-13939	650	39	quadrotor	quadrotor	NOUN
fumecheng-13939	650	40	uav	uav	PROPN
fumecheng-13939	650	41	with	with	ADP
fumecheng-13939	650	42	external	external	ADJ
fumecheng-13939	650	43	disturbances	disturbance	NOUN
fumecheng-13939	650	44	,	,	PUNCT
fumecheng-13939	650	45	aerospace	aerospace	NOUN
fumecheng-13939	650	46	science	science	NOUN
fumecheng-13939	650	47	and	and	CCONJ
fumecheng-13939	650	48	technology	technology	NOUN
fumecheng-13939	650	49	,	,	PUNCT
fumecheng-13939	650	50	115	115	NUM
fumecheng-13939	650	51	,	,	PUNCT
fumecheng-13939	650	52	106790	106790	NUM
fumecheng-13939	650	53	.	.	PUNCT
fumecheng-13939	651	1	23	23	NUM
fumecheng-13939	651	2	.	.	X
fumecheng-13939	652	1	yu	yu	PROPN
fumecheng-13939	652	2	,	,	PUNCT
fumecheng-13939	652	3	x.	x.	PROPN
fumecheng-13939	652	4	,	,	PUNCT
fumecheng-13939	652	5	li	li	PROPN
fumecheng-13939	652	6	,	,	PUNCT
fumecheng-13939	652	7	p.	p.	PROPN
fumecheng-13939	652	8	,	,	PUNCT
fumecheng-13939	652	9	zhang	zhang	PROPN
fumecheng-13939	652	10	,	,	PUNCT
fumecheng-13939	652	11	y.m	y.m	PROPN
fumecheng-13939	652	12	.	.	PROPN
fumecheng-13939	652	13	,	,	PUNCT
fumecheng-13939	652	14	2017	2017	NUM
fumecheng-13939	652	15	,	,	PUNCT
fumecheng-13939	652	16	fault	fault	NOUN
fumecheng-13939	652	17	-	-	PUNCT
fumecheng-13939	652	18	tolerant	tolerant	ADJ
fumecheng-13939	652	19	control	control	NOUN
fumecheng-13939	652	20	design	design	NOUN
fumecheng-13939	652	21	against	against	ADP
fumecheng-13939	652	22	actuator	actuator	NOUN
fumecheng-13939	652	23	faults	fault	NOUN
fumecheng-13939	652	24	with	with	ADP
fumecheng-13939	652	25	application	application	NOUN
fumecheng-13939	652	26	to	to	ADP
fumecheng-13939	652	27	uav	uav	PROPN
fumecheng-13939	652	28	formation	formation	NOUN
fumecheng-13939	652	29	flight	flight	NOUN
fumecheng-13939	652	30	,	,	PUNCT
fumecheng-13939	652	31	2017	2017	NUM
fumecheng-13939	652	32	36th	36th	ADJ
fumecheng-13939	652	33	chinese	chinese	ADJ
fumecheng-13939	652	34	control	control	PROPN
fumecheng-13939	652	35	conference	conference	PROPN
fumecheng-13939	652	36	(	(	PUNCT
fumecheng-13939	652	37	ccc	ccc	PROPN
fumecheng-13939	652	38	)	)	PUNCT
fumecheng-13939	652	39	,	,	PUNCT
fumecheng-13939	652	40	pp	pp	ADP
fumecheng-13939	652	41	.	.	PUNCT
fumecheng-13939	653	1	7167	7167	NUM
fumecheng-13939	653	2	-	-	SYM
fumecheng-13939	653	3	7171	7171	NUM
fumecheng-13939	653	4	.	.	PUNCT
fumecheng-13939	654	1	24	24	NUM
fumecheng-13939	654	2	.	.	PUNCT
fumecheng-13939	654	3	reppa	reppa	NOUN
fumecheng-13939	654	4	,	,	PUNCT
fumecheng-13939	654	5	v.	v.	ADV
fumecheng-13939	654	6	,	,	PUNCT
fumecheng-13939	654	7	polycarpou	polycarpou	NOUN
fumecheng-13939	654	8	,	,	PUNCT
fumecheng-13939	654	9	m.m	m.m	PROPN
fumecheng-13939	654	10	.	.	PROPN
fumecheng-13939	654	11	,	,	PUNCT
fumecheng-13939	654	12	panayiotou	panayiotou	NOUN
fumecheng-13939	654	13	,	,	PUNCT
fumecheng-13939	654	14	c.g	c.g	PROPN
fumecheng-13939	654	15	.	.	PROPN
fumecheng-13939	654	16	,	,	PUNCT
fumecheng-13939	654	17	2015	2015	NUM
fumecheng-13939	654	18	,	,	PUNCT
fumecheng-13939	654	19	distributed	distribute	VERB
fumecheng-13939	654	20	sensor	sensor	NOUN
fumecheng-13939	654	21	fault	fault	NOUN
fumecheng-13939	654	22	diagnosis	diagnosis	NOUN
fumecheng-13939	654	23	for	for	ADP
fumecheng-13939	654	24	a	a	DET
fumecheng-13939	654	25	network	network	NOUN
fumecheng-13939	654	26	of	of	ADP
fumecheng-13939	654	27	interconnected	interconnected	ADJ
fumecheng-13939	654	28	cyberphysical	cyberphysical	ADJ
fumecheng-13939	654	29	systems	system	NOUN
fumecheng-13939	654	30	,	,	PUNCT
fumecheng-13939	654	31	ieee	ieee	NOUN
fumecheng-13939	654	32	transactions	transaction	NOUN
fumecheng-13939	654	33	on	on	ADP
fumecheng-13939	654	34	control	control	NOUN
fumecheng-13939	654	35	of	of	ADP
fumecheng-13939	654	36	network	network	NOUN
fumecheng-13939	654	37	systems	system	NOUN
fumecheng-13939	654	38	,	,	PUNCT
fumecheng-13939	654	39	2(1	2(1	NUM
fumecheng-13939	654	40	)	)	PUNCT
fumecheng-13939	654	41	,	,	PUNCT
fumecheng-13939	654	42	pp	pp	ADP
fumecheng-13939	654	43	.	.	PUNCT
fumecheng-13939	655	1	11	11	NUM
fumecheng-13939	655	2	-	-	SYM
fumecheng-13939	655	3	23	23	NUM
fumecheng-13939	655	4	.	.	PUNCT
fumecheng-13939	656	1	25	25	NUM
fumecheng-13939	656	2	.	.	PUNCT
fumecheng-13939	656	3	wu	wu	PROPN
fumecheng-13939	656	4	,	,	PUNCT
fumecheng-13939	656	5	s.t	s.t	PROPN
fumecheng-13939	656	6	.	.	PROPN
fumecheng-13939	656	7	,	,	PUNCT
fumecheng-13939	656	8	2013	2013	NUM
fumecheng-13939	656	9	,	,	PUNCT
fumecheng-13939	656	10	flight	flight	NOUN
fumecheng-13939	656	11	control	control	NOUN
fumecheng-13939	656	12	system	system	NOUN
fumecheng-13939	656	13	.	.	PUNCT
fumecheng-13939	657	1	beihang	beihang	PROPN
fumecheng-13939	657	2	university	university	PROPN
fumecheng-13939	657	3	press	press	NOUN
fumecheng-13939	657	4	.	.	PUNCT
fumecheng-13939	658	1	26	26	NUM
fumecheng-13939	658	2	.	.	X
fumecheng-13939	659	1	kumar	kumar	PROPN
fumecheng-13939	659	2	,	,	PUNCT
fumecheng-13939	659	3	s.	s.	PROPN
fumecheng-13939	659	4	,	,	PUNCT
fumecheng-13939	659	5	kumar	kumar	PROPN
fumecheng-13939	659	6	,	,	PUNCT
fumecheng-13939	659	7	a.	a.	PROPN
fumecheng-13939	659	8	,	,	PUNCT
fumecheng-13939	659	9	lee	lee	PROPN
fumecheng-13939	659	10	,	,	PUNCT
fumecheng-13939	659	11	d.g	d.g	PROPN
fumecheng-13939	659	12	,	,	PUNCT
fumecheng-13939	659	13	2022	2022	NUM
fumecheng-13939	659	14	,	,	PUNCT
fumecheng-13939	659	15	semantic	semantic	ADJ
fumecheng-13939	659	16	segmentation	segmentation	NOUN
fumecheng-13939	659	17	of	of	ADP
fumecheng-13939	659	18	uav	uav	PROPN
fumecheng-13939	659	19	images	image	NOUN
fumecheng-13939	659	20	based	base	VERB
fumecheng-13939	659	21	on	on	ADP
fumecheng-13939	659	22	transformer	transformer	NOUN
fumecheng-13939	659	23	framework	framework	NOUN
fumecheng-13939	659	24	with	with	ADP
fumecheng-13939	659	25	context	context	NOUN
fumecheng-13939	659	26	information	information	NOUN
fumecheng-13939	659	27	,	,	PUNCT
fumecheng-13939	659	28	mathematics	mathematic	NOUN
fumecheng-13939	659	29	,	,	PUNCT
fumecheng-13939	659	30	10(24	10(24	NUM
fumecheng-13939	659	31	)	)	PUNCT
fumecheng-13939	659	32	,	,	PUNCT
fumecheng-13939	659	33	4735	4735	NUM
fumecheng-13939	659	34	.	.	PUNCT
fumecheng-13939	660	1	27	27	NUM
fumecheng-13939	660	2	.	.	PUNCT
fumecheng-13939	661	1	kurdi	kurdi	PROPN
fumecheng-13939	661	2	,	,	PUNCT
fumecheng-13939	661	3	h.	h.	PROPN
fumecheng-13939	661	4	,	,	PUNCT
fumecheng-13939	661	5	aldaood	aldaood	NOUN
fumecheng-13939	661	6	,	,	PUNCT
fumecheng-13939	661	7	m.f	m.f	PROPN
fumecheng-13939	661	8	.	.	PROPN
fumecheng-13939	661	9	,	,	PUNCT
fumecheng-13939	662	1	al	al	PROPN
fumecheng-13939	662	2	.	.	PROPN
fumecheng-13939	662	3	megren	megren	PROPN
fumecheng-13939	662	4	,	,	PUNCT
fumecheng-13939	662	5	s.	s.	PROPN
fumecheng-13939	662	6	,	,	PUNCT
fumecheng-13939	662	7	aloboud	aloboud	PROPN
fumecheng-13939	662	8	,	,	PUNCT
fumecheng-13939	662	9	e.	e.	PROPN
fumecheng-13939	662	10	,	,	PUNCT
fumecheng-13939	662	11	aldawood	aldawood	PROPN
fumecheng-13939	662	12	,	,	PUNCT
fumecheng-13939	662	13	a.s	a.s	PROPN
fumecheng-13939	662	14	.	.	PROPN
fumecheng-13939	662	15	,	,	PUNCT
fumecheng-13939	662	16	youcef	youcef	PROPN
fumecheng-13939	662	17	-	-	PUNCT
fumecheng-13939	662	18	toumi	toumi	PROPN
fumecheng-13939	662	19	,	,	PUNCT
fumecheng-13939	662	20	k.	k.	PROPN
fumecheng-13939	662	21	,	,	PUNCT
fumecheng-13939	662	22	2019	2019	NUM
fumecheng-13939	662	23	,	,	PUNCT
fumecheng-13939	662	24	adaptive	adaptive	ADJ
fumecheng-13939	662	25	task	task	NOUN
fumecheng-13939	662	26	allocation	allocation	NOUN
fumecheng-13939	662	27	for	for	ADP
fumecheng-13939	662	28	multi	multi	ADJ
fumecheng-13939	662	29	-	-	ADJ
fumecheng-13939	662	30	uav	uav	ADJ
fumecheng-13939	662	31	systems	system	NOUN
fumecheng-13939	662	32	based	base	VERB
fumecheng-13939	662	33	on	on	ADP
fumecheng-13939	662	34	bacteria	bacteria	NOUN
fumecheng-13939	662	35	foraging	forage	VERB
fumecheng-13939	662	36	behaviour	behaviour	NOUN
fumecheng-13939	662	37	,	,	PUNCT
fumecheng-13939	662	38	applied	apply	VERB
fumecheng-13939	662	39	soft	soft	ADJ
fumecheng-13939	662	40	computing	computing	NOUN
fumecheng-13939	662	41	,	,	PUNCT
fumecheng-13939	662	42	83	83	NUM
fumecheng-13939	662	43	,	,	PUNCT
fumecheng-13939	662	44	pp	pp	ADJ
fumecheng-13939	662	45	.	.	PUNCT
fumecheng-13939	662	46	105643	105643	NUM
fumecheng-13939	662	47	-	-	SYM
fumecheng-13939	662	48	105661	105661	NUM
fumecheng-13939	662	49	.	.	PUNCT
fumecheng-13939	663	1	28	28	NUM
fumecheng-13939	663	2	.	.	PUNCT
fumecheng-13939	663	3	aljalaud	aljalaud	PROPN
fumecheng-13939	663	4	,	,	PUNCT
fumecheng-13939	663	5	f.	f.	PROPN
fumecheng-13939	663	6	,	,	PUNCT
fumecheng-13939	663	7	kurdi	kurdi	PROPN
fumecheng-13939	663	8	,	,	PUNCT
fumecheng-13939	663	9	h.	h.	PROPN
fumecheng-13939	663	10	,	,	PUNCT
fumecheng-13939	663	11	youcef	youcef	PROPN
fumecheng-13939	663	12	-	-	PUNCT
fumecheng-13939	663	13	toumi	toumi	PROPN
fumecheng-13939	663	14	,	,	PUNCT
fumecheng-13939	663	15	k.	k.	PROPN
fumecheng-13939	663	16	,	,	PUNCT
fumecheng-13939	663	17	2023	2023	NUM
fumecheng-13939	663	18	,	,	PUNCT
fumecheng-13939	663	19	autonomous	autonomous	ADJ
fumecheng-13939	663	20	multi	multi	ADJ
fumecheng-13939	663	21	-	-	ADJ
fumecheng-13939	663	22	uav	uav	ADJ
fumecheng-13939	663	23	path	path	NOUN
fumecheng-13939	663	24	planning	planning	NOUN
fumecheng-13939	663	25	in	in	ADP
fumecheng-13939	663	26	pipe	pipe	NOUN
fumecheng-13939	663	27	inspection	inspection	NOUN
fumecheng-13939	663	28	missions	mission	NOUN
fumecheng-13939	663	29	based	base	VERB
fumecheng-13939	663	30	on	on	ADP
fumecheng-13939	663	31	booby	booby	NOUN
fumecheng-13939	663	32	behavior	behavior	NOUN
fumecheng-13939	663	33	,	,	PUNCT
fumecheng-13939	663	34	mathematics	mathematic	NOUN
fumecheng-13939	663	35	,	,	PUNCT
fumecheng-13939	663	36	11(9	11(9	PROPN
fumecheng-13939	663	37	)	)	PUNCT
fumecheng-13939	663	38	,	,	PUNCT
fumecheng-13939	663	39	2092	2092	NUM
fumecheng-13939	663	40	.	.	PUNCT
fumecheng-13939	664	1	29	29	NUM
fumecheng-13939	664	2	.	.	PUNCT
fumecheng-13939	665	1	liu	liu	PROPN
fumecheng-13939	665	2	,	,	PUNCT
fumecheng-13939	665	3	z.x	z.x	PROPN
fumecheng-13939	665	4	.	.	PROPN
fumecheng-13939	665	5	,	,	PUNCT
fumecheng-13939	665	6	yu	yu	PROPN
fumecheng-13939	665	7	,	,	PUNCT
fumecheng-13939	665	8	x.	x.	NOUN
fumecheng-13939	665	9	,	,	PUNCT
fumecheng-13939	665	10	yuan	yuan	PROPN
fumecheng-13939	665	11	,	,	PUNCT
fumecheng-13939	665	12	c.	c.	PROPN
fumecheng-13939	665	13	,	,	PUNCT
fumecheng-13939	665	14	zhang	zhang	PROPN
fumecheng-13939	665	15	,	,	PUNCT
fumecheng-13939	665	16	y.m	y.m	PROPN
fumecheng-13939	665	17	.	.	PROPN
fumecheng-13939	665	18	,	,	PUNCT
fumecheng-13939	665	19	2015	2015	NUM
fumecheng-13939	665	20	,	,	PUNCT
fumecheng-13939	665	21	leader	leader	NOUN
fumecheng-13939	665	22	-	-	PUNCT
fumecheng-13939	665	23	follower	follower	NOUN
fumecheng-13939	665	24	formation	formation	NOUN
fumecheng-13939	665	25	control	control	NOUN
fumecheng-13939	665	26	of	of	ADP
fumecheng-13939	665	27	unmanned	unmanned	ADJ
fumecheng-13939	665	28	aerial	aerial	ADJ
fumecheng-13939	665	29	vehicles	vehicle	NOUN
fumecheng-13939	665	30	with	with	ADP
fumecheng-13939	665	31	fault	fault	NOUN
fumecheng-13939	665	32	tolerant	tolerant	ADJ
fumecheng-13939	665	33	and	and	CCONJ
fumecheng-13939	665	34	collision	collision	NOUN
fumecheng-13939	665	35	avoidance	avoidance	NOUN
fumecheng-13939	665	36	capabilities	capability	NOUN
fumecheng-13939	665	37	,	,	PUNCT
fumecheng-13939	665	38	international	international	ADJ
fumecheng-13939	665	39	conference	conference	NOUN
fumecheng-13939	665	40	on	on	ADP
fumecheng-13939	665	41	unmanned	unmanned	ADJ
fumecheng-13939	665	42	aircraft	aircraft	NOUN
fumecheng-13939	665	43	systems	system	NOUN
fumecheng-13939	665	44	,	,	PUNCT
fumecheng-13939	665	45	denver	denver	PROPN
fumecheng-13939	665	46	,	,	PUNCT
fumecheng-13939	665	47	usa	usa	PROPN
fumecheng-13939	665	48	,	,	PUNCT
fumecheng-13939	665	49	pp	pp	PROPN
fumecheng-13939	665	50	.	.	PUNCT
fumecheng-13939	665	51	1025	1025	NUM
fumecheng-13939	665	52	-	-	SYM
fumecheng-13939	665	53	1030	1030	NUM
fumecheng-13939	665	54	.	.	PUNCT