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The attitude control system of an unmanned aerial vehicle (UAV) is a multi-input multi-output, strongly coupled, nonlinear and uncertain system. This study proposes a new attitude control approach for an UAV using the variable structure control theory, with a particular focus on the parameter uncertainty and external disturbance. Firstly, the mathematical model of UAV's attitude motion is derived from the Newton-Euler formulation, including the kinematics and dynamics equations. Then, thedoi:10.1016/j.proeng.2011.08.078 fatcat:accsntqz5bhxza35uj26phaxyi