Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based

Table 1

Hexarotor nominal parameters.

Nominal parameter	Nominal value	Unit
	1.52	kg
	9.81	m/s^2
	0.275	m
	0.0358	kgm^2
	0.0357	kgm^2
	0.0728	kgm^2