# Online Tuning of PID Controller Using a Multilayer Fuzzy Neural Network Design for Quadcopter Attitude Tracking Control

> Research article (Frontiers in Neurorobotics, 2021) · cited 17× · AI/ML

**Wikidata**: [openalex:W3125234882](https://www.wikidata.org/wiki/openalex:W3125234882)  
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