《TABLE I THE UNCERTAINTY OF MODEL PARAMETERS ANDEXTERNAL DISTURBANCES》

  提示：宽带有限、当前游客访问压缩模式

本系列图表出处文件名：随高清版一同展现

《Prescribed Performance Control of One-DOF Link Manipulator With Uncertainties and Input Saturation Constraint》

1. 获取 高清版本忘记账户？点击这里登录

1. 下载图表忘记账户？点击这里登录

To illustrate the robustness property of the closed-loop system，the uncertain parameters and external disturbances of the manipulator are simultaneously taken into account in this part，and we present the comparison results between the control method designed in this paper and the model-based approach in[60].The two cases with different uncertainties of model parameters and external disturbances are listed in Table I.For comparison，other conditions and control parameters of the two cases are the same.The tracking performance is shown in Fig.9.It is straightforward to show that the system steered by the proposed control scheme in this paper performs with the lower tracking error than the model-based one despite uncertain parameters dynamics and unknown disturbances.This is due to the fact that the dynamics and disturbances are approximated by the ESO and are efficiently compensated.