Autonomous Close Formation Flight Control with Fixed Wing and Quadrotor Test Beds

Table 7

Phastball simulation performance index.

Score for controller performance
	Offset (m)	OS%				Score
Vertical	5.0	7.5%	1 s	3.5 s	−0.2 m	87.4%
Lateral	5.0	0%	2.5 s	6 s	0.01 m	83.1%
Forward	0.0	0%	2 s	4 s	0.46 m	81.4%