Velocity-Free Adaptive Time Delay Control of Robotic System

Table 1

Quantitative comparison of position tracking error.

	Conventional TDC	Adaptive gain sliding mode TDC	Proposed control
(rad)	0–0.3133	0–0.1187	0–0.03394
(rad)	0–0.0790	0–0.0661	0–0.02913