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

Table 4

Performances of SMC, PFLC, and ZVDD controllers (simulation for l = 0.5 m and m = 0.5 kg).

Controller	SMC	PFLC	ZVDD
Settling time in x direction	6.2 s	6.3 s	6.4 s
Maximum swing angle	0.030 rad	0.035 rad	0.047 rad