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

Table 6

Comparison of the MAX of the tracking error for different trajectories with wind disturbances.

Trajectory
	Neuro	PID	Neuro	PID	Neuro	PID	Neuro	PID
Linear	1.0270	1.0270	1.0270	1.0270	5.0010	5.0010	5.1986	5.1986
Circular	2	2	1.0562	1.1864	5.0010	5.0010	5.4796	5.4796
Helical	1	1.4086	0.1834	0.9557	0.1582	1.4093	1.0033	1.6068
Cyclic helical	1	1.0948	0.2060	1.0506	0.1591	1.5356	1.0006	1.6874
Lemniscate	1	1	0.1035	0.5375	0.0710	1.6160	1	1.6166
Helical lemniscate	1	1.0582	0.1228	0.7613	0.0771	1.3190	1	1.3371