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

Table 5

Parameters of desire trajectory.

Symbol	Description	Value
x1	Desire trajectory (x1)	t/s
y1	Desire trajectory (y1)	3 ∗ sin(t/4 + pi/2)/m
z1	Desire trajectory (z1)	3 + 3 ∗ sin(t/4)/m
x1	Init (x1)	0/m
y1	Init (y1)	3/m
z1	Init (z1)	0/m
White noise-x	Noise power 0.01	—/N
White noise-y	Noise power 0.5	—/N
White noise-z	Noise power 0.01	—/N