Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

Table 2

RMS, AME, and STD of steady state error for roll angle tracking.

Controller	AME	STD	RMS
SMC-LESO	0.62	0.38	0.33
SMC-NESO	0.89	0.64	0.71
LADRC	0.70	0.33	0.49