UDE-Based Dynamic Surface Control for Quadrotor Drone Attitude Tracking under Non-Ideal Actuators

Round 1

Reviewer 1 Report

1. There are some incorrect symbolic correspondences in the article, such as the incorrect expression of the time delay parameter  in Eq. (7) in Section 2.2, and the expected attitude signal  in Eq. (10) in Section 3, etc. Please thoroughly check and correct the accuracy of the symbolic expressions throughout the article.

2. When analyzing the simulation results, the authors mention that the system will occur instability if CMUDE uses Table 2, i.e., smaller parameters. This process is not shown in the simulation graphs, and if so, please add the experimental results to enhance the convincing effect.

 

3. Try to catch the key contents in the introduction section, refine the description of related work and the summary of UDE research appropriately, add some quantitative analysis in the simulation section, and make some additions to the conclusion, including but not limited to the outlook of future work.

 

Author Response

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Author Response File: Author Response.pdf

Reviewer 2 Report

1- Quadcopter modeling should be clearer and more understandable.

2- It would be healthier to give the modeling in the form of 12 equations and show it with the state space model approach.

3- All graphics are very bad in terms of quality, simulations should be made again and graphics should be presented in high quality format.

4- It is not very clear what kind of gap this study will fill in the literature.

5- It should be compared with similar studies and its superiority should be stated.

6- The following sources can be used for modelling.

O. KÖSE and T. OKTAY, “Simultaneous quadrotor autopilot system and collective morphing system design,” Aircraft Engineering and Aerospace Technology, vol. 92, no. 7, pp. 1093–1100, Jun. 2020.

H. ŞAHİN, O. KÖSE, and T. OKTAY, “Simultaneous autonomous system and powerplant design for morphing quadrotors,” Aircraft Engineering and Aerospace Technology, vol. 1, no. 1, pp. 1–14, Mar. 2022.

O. KÖSE and T. OKTAY, “Quadrotor Flight System Design using Collective and Differential Morphing with SPSA and ANN,” International Journal of Intelligent Systems and Applications in Engineering, vol. 9, no. 4, pp. 159–164, Dec. 2021.

English language quality should be improved. It was difficult to read and understand.

Author Response

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Author Response File: Author Response.pdf

Reviewer 3 Report

please consider my critics

Comments for author File: Comments.pdf

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Author Response

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Author Response File: Author Response.pdf