Nonsingular Fast Terminal Sliding Mode Neural Network Decentralized Control of a Quadrotor Unmanned Aerial Vehicle

Figure 5

Position and attitude virtual decentralized controllers: (a) virtual decentralized controller of the x-axis; (b) virtual decentralized controller of the y-axis; (c) virtual decentralized controller of the z-axis; (d) virtual decentralized controller of the pitch attitude; (e) virtual decentralized controller of the roll attitude; (f) virtual decentralized controller of the yaw attitude.

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(b)

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(f)