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

Table 4

Rules based on vectoral distance.

NB	NS	NS	Z	PS	NS	PB
PB	Z	PS	PM	PB	PB	PB	PB
NS	NS	Z	PS	PM	PB	PB	PB
PS	NM	NS	Z	PS	PM	PB	PB
Z	NB	NM	NS	Z	PS	PM	PB
NS	NB	NB	NM	NS	Z	PS	PM
NS	NB	NB	NB	NM	NS	Z	PS
NB	NB	NB	NB	NB	NB	NS	Z

PB: positive big, PS: positive small, NB: negative big, NS: negative small, PM: positive medium, Z: zero, and NM: negative medium.