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

Table 5

Comparison of the MSE of the tracking error for different trajectories with wind disturbances.

Trajectory
	Neuro	PID	Neuro	PID	Neuro	PID	Neuro	PID
Linear	0.0707	0.0707	0.0708	0.0708	1.6163	2.1214	0.6730	1.0130
Circular	0.2805	0.8612	0.0739	0.2596	1.6186	2.2711	0.7591	1.6014
Helical	0.0951	0.4850	0.0042	0.2009	0.0048	0.2847	0.2181	0.8666
Cyclic helical	0.1053	0.3435	0.0132	0.2000	0.0069	0.2596	0.2746	0.8084
Lemniscate	0.0911	0.1928	0.0011	0.0335	0.0005	0.3036	0.1748	0.6008
Helical lemniscate	0.0940	0.2614	0.0032	0.0695	0.0010	0.2460	0.2015	0.6903