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

Table 1

Six-rotor UAV model parameters.

Parameter	𝑚	𝑔	𝑙1	𝑙2	𝑙3	𝛼	J	𝐽𝑟	𝑏	𝑑
Value	1.7	9.81	281.5	287.6	40.08	45	Diag{0.0019,0.0019,0.031}	3.357 × 10^−5	3.357 × 10^−5	3.357 × 10^−5
Units	Kg	m/s^2	mm	mm	mm	deg	Kg·m^2	Kg·m^2	N s^2/rad^2	Nm s^2/rad^2