Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design

Table 3

Simulation parameters.

Notation	Parameters (unit)	Notation	Parameters (unit)
𝐼𝑥𝑥	0.0057211 kg⋅m^2	𝑙1	0.19 m
𝐼𝑦𝑦	0.073933 kg⋅m^2	𝑙2	0.122 m
𝐼𝑧𝑧	0.012545 kg⋅m^2	𝑙3	0.23 m
𝑏1=𝑏2	0.00013678	𝑙4	𝑙^21+𝑙^22=0.225 m
𝑑1=𝑑2	0.000024323	𝑚	0.84 kg