Disturbance Compensation Based Finite-Time Tracking Control of Rigid Manipulator

Figure 4

Response curves of system (9) under controllers (12) and (32). (a) Positions of the 1st link (rad). (b) Position tracking errors of the 1st link (rad). (c) Positions of the 2nd link (rad). (d) Position tracking errors of the 2nd link (rad). (e) Control signals for the 1st link (Nm). (f) Control signals for the 2nd link (Nm).

(a)

(b)

(c)

(d)

(e)

(f)