@article{zhang_yang_2023,  title={Position and Attitude Control Based on Single Neuron PID With Gravity Compensation for Quad Rotor UAV},  volume={15},  ISSN={2175-9146},  url={https://doi.org/10.1590/jatm.v15.1303},  DOI={10.1590/jatm.v15.1303},  journal={Journal of Aerospace Technology and Management},  publisher={Departamento de Ciência e Tecnologia Aeroespacial},  author={Zhang, Haitao and Yang, Lulu},  year={2023},  pages={e1023} }