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Design and Development of a Novel Controller for Robust Attitude Control of an Unmanned Air Vehicle for Nuclear Environments

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Figure

Fig. 1. Quadrotor model with coordinate axes
Fig. 2. Intercept-varying sliding manifolds based on initial conditions
Fig. 5.Time history of control torques based on IVSMC1-Cnt subject touncertainty and external disturbances
Fig. 7.Time history of Euler angles deviation based on IVSMC1-BL andIVSMC1-Cnt subject to uncertainty and external disturbances

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