Table 3 Comparison of index performance (IAE) of circular shape trajectory tracking.

From: Dual observers based sliding mode control for QUAVs with unknown disturbances and time varying delays

State

Controller 1

Controller 2

Controller 3

Controller 4

x

0.3018

0.3228

0.7972

0.2280

y

0.1576

0.1795

1.3008

0.0827

z

0.5673

0.6014

0.5721

0.4904

\(\theta\)

0.0999

0.0643

0.0661

0.0331

\(\phi\)

0.0395

0.0302

0.0459

0.0243

\(\psi\)

0.2620

0.2690

0.2964

0.1154

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