Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors

Table 3

Comparison of the MSE of the tracking error for different trajectories with mass variation.

Trajectory
	Neuro	PID	Neuro	PID	Neuro	PID	Neuro	PID
Linear	0.0707	0.0707	0.0708	0.0708	1.6099	21.9021	0.6635	3.8267
Circular	0.2766	0.2775	0.0720	0.0729	1.6101	21.9026	0.7076	3.8657
Helical	0.0934	0.1053	0.0018	0.0148	0.0029	18.2737	0.1899	3.2131
Cyclic helical	0.1067	0.2145	0.0126	0.1212	0.0046	17.5445	0.2715	3.1897
Lemniscate	0.0902	0.0916	0.003	0.0020	0.0010	18.2297	0.1589	3.1981
Helical lemniscate	0.0923	0.1060	0.0018	0.0166	0.0034	18.2335	0.1956	3.2087