A Moving Target Tracking Control of Quadrotor UAV Based on Passive Control and Super-Twisting Sliding Mode Control

Table 3

Convergence time of tracking error.

Method	x (s)	y (s)	z (s)	ϕ (s)	θ (s)	ψ (s)
PC&STSM	1.6	1.4	1.6	0.35	0.35	0.25
2-SMC	3.6	4.2	3.8	1.5	1.4	1.2