A Novel Family of Exact Nonlinear Cascade Control Design Solutions for a Class of UAV Systems

Table 2

Structure specifications of experimental platform.

Length of the frame arm	0.65 m
Distance to center of gravity
Mass of the frame arm	0.05 kg
Radius of the frame arm	0.01 m
Mass of the motor	0.106 kg
Radius of the motor	0.025 m
Height of the motor	0.03 m
Mass of the battery	0.6 kg
Width of the battery	0.08 m
Height of the battery	0.04 m
Length of the battery	0.135 m
Net weight	2.335 kg