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