Research Article
Fuzzy Terminal Sliding Mode Control with Compound Reaching Law and Time Delay Estimation for HDU of Legged Robot
Table 7
Position error under different inputs.
| | Working condition | PID controller | FTSM | FTSM + TDE | | Maximum error (mm) | Maximum error (mm) | Improvement to PID controller (%) | Maximum error (mm) | Improvement to PID controller (%) |
| | ① | 0.62 | 0.26 | 58 | 0.15 | 69.5 | | ② | 0.58 | 0.34 | 61.4 | 0.184 | 69.6 |
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