Table 4 The comparison of SOC prediction errors of different existing methods.

From: Temporal-aware transformer networks for state of charge multi-output prediction in unmanned aerial vehicle lithium-ion batteries

Model

MAE

RMSE

MAPE

RNN

2.889

3.584

5.988

Stacked CNN

2.664

3.199

5.572

MLP

3.041

3.658

5.830

LSTM

2.927

3.459

5.230

Transformer

2.488

3.131

4.694

PatchTST

3.084

3.543

5.990

TimesNet

2.901

3.298

5.654

TATNS

2.165

2.703

4.320

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