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The work describes an automatically online self-tunable fuzzy inference system (STFIS) of a new configuration of mini-flying called XSF (X4 stationary flyer) drone. A fuzzy controller based on online optimization of a zero order Takagi-Sugeno fuzzy inference system (FIS) by a back propagation-like algorithm is successfully applied. It is used to minimize a cost function that is made up of a quadratic...
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