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

Table 4

Parameters of “8-shaped” 3D spiral curve.

Symbol	Description	Value
x1	Desire trajectory (x1)	8 − 8cos (pi (t − 4)/6)/m
y1	Desire trajectory (y1)	4sin (pi (t − 4)/3)/m
z1	Desire trajectory (z1)	−0.1 (1-exp (−0.3 t))/m
x1	Init (x1)	8/m
y1	Init (y1)	3/m
z1	Init (z1)	0/m