Table 5.
The mean square x/y tracking error for each of the ten benchmark problems over all nine cost functions.
| Cost function | Trace 1 | Trace 2 | Trace 3 | Trace 4 | Trace 5 | Trace 6 | Trace 7 | Trace 8 | Trace 9 | Trace 10 |
|---|---|---|---|---|---|---|---|---|---|---|
| N | 4.8707 | 4.5262 | 2.2036 | 5.6949 | 3.8731 | 41.6660 | 3.6509 | 164.3688 | 159.4037 | 254.2347 |
| N + V | 4.7795 | 3.3969 | 2.2779 | 5.6806 | 3.6484 | 41.3370 | 3.5962 | 164.3757 | 151.8812 | 204.9152 |
| N2 + V | 3.0021 | 4.1559 | 2.2034 | 5.3960 | 3.3608 | 35.2498 | 2.3363 | 142.2176 | 177.5774 | 199.9689 |
| N + V2 | 3.4211 | 3.3865 | 2.1943 | 5.6674 | 3.6418 | 41.2335 | 3.5976 | 164.6490 | 141.2616 | 260.3797 |
| N2 + V2 | 4.0023 | 4.0240 | 1.8946 | 4.8941 | 3.2774 | 40.1589 | 2.3352 | 143.2290 | 174.8229 | 169.0122 |
| N3 + V | 2.5819 | 3.8798 | 2.1710 | 5.0038 | 3.5078 | 40.1783 | 3.7550 | 118.5361 | 24.8087 | 199.9920 |
| N + V3 | 4.8383 | 3.5333 | 2.0861 | 5.6070 | 3.5499 | 41.9231 | 3.4952 | 165.1431 | 150.0178 | 265.7633 |
| N3 + V3 | 2.6480 | 3.9194 | 2.2710 | 5.4042 | 3.3421 | 30.9186 | 2.4176 | 65.7683 | 25.5060 | 160.7103 |
| N4 + V | 2.6324 | 3.5679 | 2.1196 | 5.3163 | 3.0866 | 35.6291 | 1.8305 | 39.9139 | 7.5303 | 204.9826 |