Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors

Table 4

Comparison of the MAX of the tracking error for different trajectories with mass variation.

Trajectory
	Neuro	PID	Neuro	PID	Neuro	PID	Neuro	PID
Linear	1.0270	1.0270	1.0270	1.0270	5.0010	9.7835	5.1986	9.7835
Circular	2	2	1.0562	1.0562	5.0010	9.7836	5.4796	9.7837
Helical	1	1	0.1207	0.2074	0.1582	9.2655	1.0033	9.2675
Cyclic helical	1	1	0.2060	0.6163	0.1591	9.1763	1.0006	9.1937
Lemniscate	1	1	0.0614	0.0962	0.0913	9.2541	1	9.2544
Helical lemniscate	1	1	0.1128	0.2703	0.1322	9.2549	1	9.2553