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

Figure 11

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

(a)

(b)

(c)

(d)