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

Figure 6

The angular velocity response curves of each propeller: (a) the angular speed of the first propeller; (b) the angular speed of the second propeller; (c) the angular speed of the third propeller; (d) the angular speed of the fourth propeller.

(a)

(b)

(c)

(d)