Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

Table 1

Physical parameters of the quadrotor.

Parameter	Explanation	Value
	Distance between propeller and the mass of vehicle	0.2 m
	Mass of vehicle	1.923 kg
	Gravitational acceleration constant	9.8 m/s^2
	Moment of inertia around x-axis	0.094 kg∙m^3
	Moment of inertia around y-axis	0.094 kg∙m^3
	Moment of inertia around z-axis	0.086 kg∙m^3
	Thrust coefficient
	Moment coefficient