Modeling and Control of a Dragonfly-Like Robot

Table 3

PID and 𝑃𝐼^𝜆𝐷^𝜇 controller parameters.

	𝐾𝑝𝑋	𝐾𝑖𝑋	𝐾𝑑𝑋	𝜇𝑋	𝜆𝑋	𝐾𝑝𝑍	𝐾𝑖𝑍	𝐾𝑑𝑍	𝜇𝑍	𝜆𝑍
PID	60	0	13	—	—	125	65	25	—	—
𝑃𝐼^𝜆𝐷^𝜇	36	0	5	0.85	0.9	106	70	25	0.8	0.6