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 |
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