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

Table 2

The root mean square (RMS) of control inputs.

Method	Input	Input	Input	Input
Proposed CSMC	0.0148 rad	0.0036 rad	0.0099 rad	0.0229 rad
ENDO-SMC	0.0172 rad	0.0051 rad	0.0159 rad	0.0435 rad
Traditional SMC	0.0187 rad	0.0155 rad	0.0215 rad	0.0789 rad