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

Table 2

c₁ and limits of c₂ and c₃.

Rope length	1 m	2 m	4 m
c1	1.0440	0.7382	0.5220
Limit of c2	1.0440	1.4765	2.0881
Limit of c3	1	2	4