Quadrotor Identification through the Cooperative Particle Swarm Optimization-Cuckoo Search Approach

Table 2

Model’s parameters given by PSO, CS, PSO-CS, and LS methods.

Optimization method	Parameter	Gmф (p)	Gmθ (p)	Gmψ (p)	Gmz (p)
PSO	Kmi	−3990.4	−1093.62	−9890.68	−9.95
	ami	−0.0009	0.0002	0.0001	−0.0001
	bmi	0.0016	−0.0005	−0.0001	0.0012
CS	Kmi	−3850.82	−940.99	−6240	−15.589
	ami	−0.001	−0.002	−0.0016	−0.003
	bmi	0.001	0.0001	1.260 · 10^−4	0.015
PSO-CS	Kmi	−3880	−935.561	−9973.1	−9.6921
	ami	0.0009	−0.0011	−2.812 · 10^−4	−8.745 · 10^−4
	bmi	−0.0004	1.767 · 10^−4	2.845 · 10^−4	0.0019
LS	Kmi	−3336	−908.74	−9447.8	−10.31
	ami	−0.0033	−0.0032	−8.218 · 10^−4	−2.639 · 10^−5
	bmi	0.0026	0.0037	7.657 · 10^−4	0.0010