0 12345678910
Time
012345678910
Time
Desired
Current
Displacement
5 4 3 2 1 0
−1
5 4 3 2 1 0
−2
−1
Angle
(a) Position of quadrotor (푥-axis)
0 12345678910
Time
012345678910
Time
Desired
Current
Displacement
5 4 3 2 1 0
−1
5 4 3 2 1 0
−2
−1
Angle
(b) Position of quadrotor (푦-axis)
012345678910
Time
0 12345678910
Time
Desired
Current
Displacement
5 4 3 2 1 0
−1
5 4 3 2 1 0
−1
Angle
(c) Position of quadrotor (푧-axis)
Figure 12: Tracking displacement without noise.