Center-of-Gravity Variation-Driven Spherical UAV System and Its Control Law

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter</td><td class="align_center">North</td><td class="align_center">East</td><td class="align_center">Altitude</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">MAE (m)</td><td class="align_center">0.8353</td><td class="align_center">0.8292</td><td class="align_center">0.7170</td></tr><tr><td class="align_left">RMSE (m)</td><td class="align_center">0.2926</td><td class="align_center">0.2850</td><td class="align_center">0.2517</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Error between desired path and trajectory.</div>

International Journal of Aerospace Engineering

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Table 3

Table 3: Center-of-Gravity Variation-Driven Spherical UAV System and Its Control Law 