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Nonlinear PID controller design for a 6-DOF UAV quadrotor system - ScienceDirect
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Modeling and simulation of quadcopter using PID controller | Semantic Scholar
Quadrotor model subsystem without PID controller. | Download Scientific Diagram
Full controller scheme of the underactuated quadcopter, the proposed... | Download Scientific Diagram
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Need help for a quadcopter PID - Robotics Stack Exchange
