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Real-time System Identification of Unmanned Aerial Vehicles: A Multi-Network Approach

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Figure

Figure 2.Hardware in the loop simulation of the multi-networkmodelling of the UAV
Figure 5. Servo inputs from one of the UAV test flights as duty cyclesof the PWM signals
Figure 7. Training section of the outputs from offline model and onlinemodel against system outputs; units in rad/sec
Figure 11. Selection between the offline model and online model forthe theta as multi-network output

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