A Load Transportation Nonlinear Control Strategy Using a Tilt-Rotor UAV

Table 1

System parameters.

Variable	Value	Variable	Value (Kg⋅m^2)
	5^∘		0.01902947
	0.5 m		0.00881577
	9.81 m/s^2		0.01747731
	1.402 Kg		0.00002074
	0.1566 Kg		−0.00087669
	0.05 Kg		0.00000808
	(6.72, 0.342, −78.9) mm		0.00004223
	(0, −247, 123) mm		0.00004096
	(0, 247, 123) mm		0.00002658
	0.0179 m		0.00000264
	0.005 N⋅s/m		0.00000264