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)	Jθ (kgm^2)	m (kg)	(m/s^2)	kpz	kdz	kpθ	kdθ
2	0.17	0.4	9.81	4	4	200	20