Real-Time Hovering Control of Unmanned Aerial Vehicles

Table 1

Quadrotor parameters.

	Mass of the airframe	1.1 kg
	Distance of the center of mass to the rotor shaft	0.223 m
	Inertia in the -axis	6.825 kg
	Inertia in the -axis	6.825 kg
	Inertia in the -axis	12.39 kg
	Inertia of the propellers	6 kg
	Gravity acceleration	9.81 m/
	Thrust factor	54.2
	Drag factor	1.1 N
	Roll angle	deg
	Pitch angle	deg
	Yaw angle	deg
	-position	m