Control-Based Robust CAS Design for QTW-UAV via the Multiple-Model Approach with Particle Swarm Optimization

Figure 9

Step responses of using oscillation suppression CAS gains in Table 2 and CAS gains in [6] at (a) clean, (b) T00, (c) T15, (d) T70, and (e) T90.

(a)

(b)

(c)

(d)

(e)