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[2] uf[.WNGSM/GPRSvS5uzec|~[J].5uRꁨRSY,2005,25(8):81-83. [3] Jun Li,Yuntang Li.Dynamic Analysis and PID Control for a Quadrotor. International Conference on Mechatronics and Automation,2011:573-578. [4] Phillip McKerrow.Modelling the Draganflayer four-rotor helicopter. International Conference on Robotics & Automation,2004:3596-3601.     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