ResearchBenchmarksTrajectory Tracking on Square TrajectoryTrajectory Tracking on Square TrajectoryFollow0.3732RMSE Drone PositionNMPC-Load0.3671240.4081370.449150.490163May 5, 2026Evaluation resultsMethodMethodLinksRMSE Drone PositionSTD Drone PositionRMSE Payload PositionSTD Payload PositionNMPC-LoadTrajectory=Square, Alt...Trajectory=Square, Altitude=1.8 m, Cable=Massless, Load Model=Complete2026.050.37320.19280.77970.4719NMPCTrajectory=Square, Alt...Trajectory=Square, Altitude=1.8 m, Cable=Massless2026.050.52510.33840.80340.5444