A Survey on Quadrotors Table 3. Trajectory Tracking Precision on Data over y-Position PID Feedback Linearization Classical SM Second Order SM Integral Backstepping Lyapunov Part 1 Settling Time >2 0.4781 0.0865 0.1053 0.0761 0.1009 Overshoot (%) 6.2727 3.0428 1.8080 0.3886 4.0715 0.4793 RMS 3.1622 0.1225 0.0502 0.0087 0.2496 0.0164 Rise time 1.6124 0.4981 0.8356 0.2936 1.4090 0.3574 Settling Time >6.5 0.8935 0.6181 0.1119 5.6814 0.1865 Overshoot (%) 17.6353 15.6950 0.2753 2.3470 5.1519 3.3056 RMS 1.5151 0.8530 0.7318 0.6996 1.4302 0.8227 2.5216 0.5478 0.0375 0.0220 0.4509 0.0095 Part 2 Part 3 RMS Table 4. Trajectory Tracking Precision on Data over z-Position PID Feedback Linearization Classical SM Second Order SM Integral Backstepping Lyapunov Settling Time 0.8318 0.8030 0.1129 0.1116 0.0258 0.1075 Overshoot (%) 2.5024 18.2107 0.2304 0.2543 7.4006e-05 0.3401 RMS 0.1956 1.4073 0.0021 0.0025 0.2804 0.0070 Rise time 0.1881 - 0.0194 0.0186 0.2760 0.0263 Settling Time 1.4291 - 0.1479 0.1493 0.5076 0.7337 Part 1 Part 2 Overshoot (%) 9.4514 - 20.3231 23.1654 7.4246e-05 10.5753 RMS 0.3591 3.3699 0.1237 0.1255 0.3300 0.1323 0.2973 1.0955 0.0976 0.0991 1.0955 0.1049 Part 3 RMS Table 5. Fine Dynamic Performance Criterion 24 PID Feedback Linearization Classical SM Second Order SM Integral Backstepping Lyapunov First subcriterion + + + + + + Second subcriterion - - + + + + IEEE A&E SYSTEMS MAGAZINE JULY 2018