Adaptive Trajectory Tracking Algorithm of a Quadrotor with Sliding Mode Control and Multilayer Neural Network

Table 1

Parameters of the quadrotor.

Symbol	Description	Value
M	Mass of quadrotor	0.76 kg
G	Acceleration of gravity	9.81 m/s^2
J	Inertia	0.0056
kx, ky, kz	Aerodynamic drag	0.1
D	Coefficient arm length	0.225 m
Kf	Thrust coefficient of rotor	6.7 kg.m/s^2