Table 4 Convergence time of quadrotor UAV attitude tracking.

From: Trajectory tracking and formation control of quadrotor UAVs based on modified super twisting sliding mode method

 

NTSTSM

STSM

FNTSM

Roll

1s

1s

1s

Pitch

1.2s

0.8s

1.3s

Yaw

0.3s

0.4s

0.4s

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