Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration

<div>Thrust components <i>f</i><sub><i>x</i></sub> and <i>f</i><sub><i>z</i></sub>.</div>

Journal of Control Science and Engineering

Figure 5: Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration 