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Mathematical Problems in Engineering
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2021
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Article
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Tab 6
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Research Article
Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer
Table 6
Summary of SMC, FSMC, and DLSDF-SMC with PE and DO designs.
Control designs
Execution time (sec)
Chattering effect (%)
Control input energy (CIE) (%)
Steady-state error
SMC
100
4.36
6.54
4.0
F-SMC
100
3.275
6.54
4.0
DLSDF-SMC (PE + DO)
50
2.543
4.75
3.2