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Feedback Linearization with Intelligent Disturbance Observer for Autonomous Quadrotor with Time-varying Disturbance

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Figure

Fig. 1.  The configuration of a quadrotor with the earth-fixed frame,     and body-fixed frame,
Fig. 2.  Feedback linearization of the nonlinear quadrotor system.
Fig. 3.  Structure of the proposed radial basis function neural network (RBFNN)
Fig. 4.  Block diagram of the proposed control method.
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