Backstepping Sliding Mode Control Algorithm for Unmanned Aerial Vehicles Based on Fractional-Order Theory

Table 2

Performance indicators of different control algorithms.

Algorithm	Passage	IAE	ISE	Time
BC	Position	3.8451	2.4223	1.0139
	Position	1.9226	0.6055	1.0136
	Altitude	2.1432	0.4113	1.8251
	Yaw angle	0.3846	0.0242	1.0137
SMC	Position	5.3335	2.9783	1.6957
	Position	2.6672	0.7445	1.6961
	Altitude	3.5794	0.6110	3.7176
	Yaw angle	0.5082	0.0258	1.7606
BSMC	Position	3.3318	2.0825	0.8925
	Position	1.6656	0.5205	0.8923
	Altitude	0.8816	0.1622	0.8161
	Yaw angle	0.2212	0.0138	0.5899
FOBSMC	Position	0.4321	0.2410	0.1350
	Position	0.1754	0.0495	0.1349
	Altitude	0.1051	0.0187	0.3495
	Yaw angle	0.0432	0.0024	0.1460

Bold values emphasize that the control effect of the controller designed is better than other controllers.