Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter

Table 2

Tuning performance of trial-and-error method, GA, PSO, and ABC algorithm.

Applied process	Time domain performance
	trial-and-error	0.70	2.33	1.17	0	1.2351
0.55		1.30	0.77	0
0.37		1.86	0.65	0
GA	0.596	2.13	0.97	0	1.013
	0.514	1.74	0.80	0
	0.303	1.27	0.48	0
PSO	0.62	2.01	0.94	0	0.9713
	0.53	1.82	0.81	0
	0.30	1.11	0.40	0
ABC	0.60	2.08	0.96	0	0.9315
	0.57	1.60	0.86	0
	0.35	0.72	0.31	0