Autonomous Close Formation Flight Control with Fixed Wing and Quadrotor Test Beds

Table 13

Phastball performance scoring.

Score for controller performance
		Offset	OS%	(s)	(s)		SCORE
	Ideal		30.0	7.0	15	2.4	>0.0%
Flight 7	Vertical	0	0.0	0.3	1.7	0.76	83.7%
	Lateral	1.2	—	—	—	−0.02	—
	Forward	12	0.0	6.2	9.2	−0.50	64.9%
Flight 8	Vertical	0	0.0	2.1	3.8	1.10	71.8%
	Lateral	1.2	236.2	7.0	18.4	−0.61	−118.0%
	Forward	12	0.0	21.8	32.3	−0.14	1.5%
Flight 10	Vertical	0	228.3	1.4	3.0	0.70	−71.6%
	Lateral	1.2	0.0	4.1	6.7	−0.02	80.0%
	Forward	12	0.0	32.4	35.2	−1.52	−35.0%
Flight 11	Vertical	0	29.0	3.5	6.8	2.74	18.4%
	Lateral	2.4	0.0	3.6	4.9	−0.63	75.3%
	Forward	12	14.6	22.5	26.6	−0.90	−6.4%
Flight 12	Vertical	0	—	—	—	1.11	—
	Lateral	2.4	18.2	4.1	13.3	−0.62	42.1%
	Forward	12	0.0	13.5	15.0	−1.51	29.2%
Flight 13	Vertical	0	37.5	2.3	11.4	0.86	31.5%
	Lateral	2.4	0.0	8.5	10.8	−0.15	64.6%
	Forward	12	0.0	9.2	12.3	−1.53	38.8%