Control of a Tilting Hexacopter under Wind Disturbance

Table 1

Symbols mentioned in the article.

Symbols	Meaning	Units
	Roll, pitch, and yaw Euler angles	deg or rad
η	Vector of Euler angles	deg or rad
P	Position of the hexacopter	m
	Velocity of the hexacopter	m·s^−1
ω	Rotation rate of the hexacopter	deg·s^−1 or rad·s^−1
ni	Rotation velocity of the propellers	deg·s^−1 or rad·s^−1
F	Force acting on the hexacopter	N
M	Torque acting on the hexacopter	N·m
	Inertial world-fixed frame	—
	Body-fixed frame	—
	rotor frame	—
	The rotation matrix between different frames	—
M	Total mass of the hexacopter	kg
J	Total inertia matrix of the hexacopter	N·m
	Gravitational acceleration	m·s^−2