Table 2.

Constants of dynamical model of the quad-rotor [34,35,36].

$M=0.486$	$C_D=3.2320\times$ 10−2	$\begin{array}{c}{I}_i=3.8278\times {10}^{-5},\\ \forall i=xx,yy,zz\end{array}$
$D=0.25$	$J_r=2.8385\times$ 10−5	$\begin{array}{c}{K}_{fa}{}_i=K_{fd}{}_i=5.5670\times {10}^{-4},\\ \forall i=xx,yy,zz\end{array}$