A Novel Family of Exact Nonlinear Cascade Control Design Solutions for a Class of UAV Systems

Table 1

Performance of experimental platform.

Hovering accuracy (-mode with GPS)	Vertical: 0.5 m, horizontal: 2.5 m
Max. angular velocity	Pitch: , yaw:
Max. tilt angle
Max. speed of ascent	5 m/s
Max. speed of descent	4 m/s
Max. wind resistance	10 m/s
Max. speed	22 m/s (ATTI mode, no payload, no wind)
	17 m/s (GPS mode, no payload, no wind)
Hovering time (with TB47D battery)	No payload: 22 min; 500 g
	Payload: 17 min; 1 kg payload: 13 min