Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration

Table 3

Performances of the proposed control scheme for different operating conditions.

Rope length	1 m	2 m	4 m
Settling time in x direction	5 s	5.6 s	6.9 s
Settling time in z direction	3 s	3 s	3 s
Maximum swing angle	0.061 rad	0.04 rad	0.026 rad