Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

Table 2

Measured versus required performance factors.

Sr.	Performance factors	Measured performance	Required performance
1	Steady-state error	2%–5%	1%–2%
2	Settling time	15.0	<15.0 seconds
3	Overshoots	10%–15%	<10%
4	State estimation delay	19.5 seconds	<19.5 seconds
5	Zeno/chattering effect	2.35–3.75%	<2.375%
6	Tuning of disturbance observer	Difficult	Easy or moderate
7	Delay in accelerations	17.5	<17.5 seconds