Computational Intelligence and Neuroscience

Research Article

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

Table 3

Statistical analysis of predicted errors using PSO, CS, and PSO-CS models.


Predictive output		IAE	ISE	ITAE	ITSE

ϕ	PSO model	2.3482	0.8960	8.3712	34.6600
	CS model	9.4593	2.0600	38.0080	899.4400
	PSO-CS model	0.6122	0.1318	2.4165	6.1527
	LS model	18.775	11.127	79.059	5090.6

θ	PSO model	1.8351	7.75 · 10⁻²	7.2906	33.9510
	CS model	5.0279	0.5808	19.9930	256.4700
	PSO-CS model	1.6507	0.0389	4.6952	11.1720
	LS model	4.6466	0.4001	17.590	165.32

ψ	PSO model	3.6325	0.2550	13.9370	107.6700
	CS model	99.0120	155.2600	355.9000	61671
	PSO-CS model	0.1661	3.36 · 10⁻²	0.4550	9.87 · 10⁻²
	LS model	16.216	4.3374	59.174	1748

z	PSO model	2.6 · 10⁻³	2 · 10⁻⁷	1.04 · 10⁻²	9.2040 · 10⁻⁵
	CS model	3.56 · 10⁻²	2.51 · 10⁻⁵	0.1363	1.0552 · 10⁻²
	PSO-CS model	1 · 10⁻³	1 · 10⁻⁸	2.8 · 10⁻³	4.15 · 10⁻⁶
	LS model	1.93 · 10⁻²	6.58 · 10⁻⁶	7.195 · 10⁻²	2.7307 · 10⁻³