Table 2:

Comparison of the MPPI and LQR controllers’ performance in terms of tracking desired pitch and yaw signals for square, circle, and infinity trajectories.

Trajectory	Pitch (deg)						Yaw (deg)
	RMSE			MAE			RMSE			MAE
	LQR	MPPI	$p$	LQR	MPPI	$p$	LQR	MPPI	$p$	LQR	MPPI	$p$
Rectangle	2.54±0.78	2.65±1.08	0.8748	1.82±0.67	1.88±0.83	0.9143	1.66±0.37	1.85±0.23	0.4228	1.34±0.24	1.29±0.11	0.7232
Oval	2.78±1.06	2.17±0.40	0.2325	2.24±0.97	1.55±0.31	0.1480	2.81±0.68	2.88±0.62	0.8559	2.35±0.72	2.30±0.49	0.8913
Infinity	2.83±1.14	2.47±1.34	0.4861	2.45±1.13	1.95±1.29	0.3237	2.19±0.68	1.83±0.34	0.1202	1.75±0.63	1.48±0.35	0.2115