[Retracted] An Innovative Aerial Manipulator with Tandem Ducted Fans: Modeling, Control, and Simulation

Table 3

RMSE in Scenario 2.

State variables	x (m)	y (m)	z (m)	ψ (deg)
Basic controller	0.0981	0.1359	0.0759	8.8462
Adaptive controller	0.0782	0.0810	0.0750	9.0389