Advanced Mathematics and Numerical Modeling of IoT

Noise

1.2

1

0.8

0.6

0.4

0.2

0

− 0.2

Noise

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Time

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Time

0.4

0.2

0

− 0.2

− 0.4

− 0.6

− 0.8

−1

− 1.2

(a) Continuous disturbance

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Time

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Time

Displacement

30

25

10

15

10

5

0

−5

Displacement

5

0

−5

−10

−15

−20

−25

Desired

Current

Desired

Current

(b) Position of quadrotor

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Time

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Time

1

0.8

0.6

0.4

0.2

0

− 0.2

− 0.4

− 0.6

− 0.8

−1

Angle

1

0.8

0.6

0.4

0.2

0

− 0.2

− 0.4

− 0.6

− 0.8

−1

Angle

(c) Attitude of quadrotor (휑,휃)

Figure 8: Results from the partially simulated system (layer 3 is excluded).