Tuning of PID Controllers for Quadcopter System using Cultural Exchange Imperialist Competitive Algorithm. Journal of Engineering, [S. l.], v. 24, n. 2, p. 80–99, 2018. DOI: 10.31026/j.eng.2018.02.06. Disponível em: https://joe.uobaghdad.edu.iq/index.php/main/article/view/526.. Acesso em: 7 may. 2024.