Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations

Table 1

Quadrotor parameters.

Symbol	Quantity	Value
	Thrust factor	N⋅S^2
	Drag coefficient	N⋅m⋅s^2
	Moment of inertia along direction	kg⋅m^2
	Moment of inertia along direction	kg⋅m^2
	Moment of inertia along direction	kg⋅m^2
	Center distance between the gravity of quadrotor and each propeller	0.1785 m
	Total mass of the quadrotor	0.450 kg
	Rotor inertia	kg⋅m^2
	Gravity	m/s^2