Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Mismatched Disturbances Based on a Continuous Sliding Mode Approach

Table 1

The root mean square (RMS) of tracking errors.

Method	Position	Position y	Position	Yaw angle
Proposed CSMC	0.0578 m	0.4651 m	0.0114 m	0.0033 rad
ENDO-SMC	0.1114 m	0.9403 m	0.0816 m	0.0039 rad
Traditional SMC	0.3614 m	1.2816 m	0.5622 m	0.0054 rad