Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="673525.fig.007a" src="https://static.hindawi.com/articles/mpe/volume-2013/673525/figures/673525.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>  Vertical helix flight          </td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="673525.fig.007b" src="https://static.hindawi.com/articles/mpe/volume-2013/673525/figures/673525.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Horizontal rectangle flight</td></tr></table></td></tr></table>

Mathematical Problems in Engineering

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Figure 7

Figure 7: Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle 