Linear Active Disturbance Rejection Control of a Two-Degrees-of-Freedom Manipulator

Figure 10

Experimental comparison of the tracking performance between LADRC and PID. during sudden disturbance. (a) Comparison of trajectory tracking with disturbance at the angles of octagonal in the x-direction. (b) Comparison of trajectory tracking with disturbance at the edges of octagonal in the x-direction. (c) Comparison of trajectory tracking with disturbance at the angles of octagonal in the y-direction. (d) Comparison of trajectory tracking with disturbance at the edges of octagonal in the y-direction (e) Comparison of trajectory tracking with disturbance at the angles of octagonal. (f) Comparison of trajectory tracking with disturbance at the edges of octagonal.

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