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

Figure 9

Experimental comparison of tracking performance between LADRC and PID. (a) Comparison of tracking trajectory in the x-direction. (b) Comparison of tracking errors in the x-direction. (c) Comparison of tracking trajectory in the y-direction. (d) Comparison of tracking errors in the y-direction. (e) Tracking comparison of regular octagonal trajectory.

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