Modeling and Nonlinear Control of a Quadcopter for Stabilization and Trajectory Tracking

Table 1

Quadcopter parameter values for simulation.

Parameter	Value	Unit
G	9.81	m/s^2
M	0.468	kg
L	0.225	m
J r		kg m^2
k t
k b
Ixx		kg m^2
Iyy		kg m^2
Izz		kg m^2
kdx	0.25
kdy	0.25
kdz	0.25