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Journal of Control Science and Engineering
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Journal of Control Science and Engineering
/
2020
/
Article
/
Tab 1
/
Research Article
Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration
Table 1
Parameters of the model and altitude, and attitude controllers.
Model parameters
Altitude control
Attitude control
M
(kg)
J
θ
(kgm
2
)
m
(kg)
(m/s
2
)
k
pz
k
dz
k
pθ
k
dθ
2
0.17
0.4
9.81
4
4
200
20