Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems

Figure 2

Simulation results with healthy actuators.

(a) The desired and actual position trajectories of the manipulators

(b) The desired and actual velocity trajectories of the manipulators

(c) The estimated values for 𝑞̇₀ at joint 1

(d) The estimated values for 𝑞̇₀ at joint 2

(e) The control inputs of each manipulator