1. Fitness ||e||L2||u||L2nosc Baseline 5.5320 2.4508 6.6040 22 OEPID 4.4668 1.4298 6.6233 21 IndirectSHL NN 4.3036 1.4294 6.5807 18 DirectSHL NN 4.6092 1.4062 6.8433 23 CombinedSHLNN 4.3057 1.4234 6.6076 18 L1SHL NN 5.0416 2.2085 6.6103 17 IndirectSHL NNwith OEPID 4.2947 1.4205 6.5806 18 DirectSHL NNwith OEPID 4.4801 1.4502 6.5998 21 CombinedSHLNN withOE PID 4.3125 1.4363 6.5876 18 L1SHL NNwith OEPID 5.0398 2.2062 6.6121 17 Table1. Tableoftail-sitter results fortheallof thealgorithms tested with nopuretimedelay andnofailures (OEPID-Outputerror PID;SHL NN -single hidden layer neural network)
2. Fitness ||e||L2||u||L2nosc Baseline 8.1617 2.7716 13.1337 29 OE PID 6.2861 2.0494 9.4555 28 IndirectSHL NN 6.0018 2.0962 9.6855 20 Direct SHLNN 7.0548 2.0176 12.6239 25 CombinedSHL NN 5.9354 2.1765 8.6963 23 L1SHL NN 7.4945 2.8771 11.3914 24 IndirectSHL NNwith OEPID 5.5704 2.3206 7.4993 20 Direct SHLNN withOE PID 5.5167 2.3695 6.6572 23 CombinedSHL NNwith OEPID 5.5650 2.4542 6.8696 21 L1SHL NN withOEPID 6.4318 3.0022 7.7651 22 Table 2. Table of tail-sitter results for the all of the algorithms tested with a pure time delay of 0.08 seconds and no failures (OE PID- Output error PID;SHLNN- single hidden layer neuralnetwork)
3. 2 4 6 8 10 12 14 16 18 20 -0.2