A Second-Order Sliding Mode Controller of Quad-Rotor UAV Based on PID Sliding Mode Surface with Unbalanced Load

KANG Bing · MIAO Yan · LIU Fu · DUAN Jilu · WANG Ke · JIANG Shoukun

Journal of Systems Science and Complexity . 2021, (2): 520 -536 . DOI: 10.1007/s11424-020-9306-6