Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment

Table 5

ISE performance index analysis: flight scenario 2.

Control strategy	Performance index
	ISE
	FCS 1 (Pixhawk®)	50.41	15.20	10.83
FCS 2 [53]	8.12	2.39	8.31
FCS 3 [29]	16.27	4.47	9.14
FCS 4 (proposed)	0.25	0.27	7.96