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

Figure 6

Simulation comparison of tracking performance between LADRC and PID during a 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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