Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

Table 3

Performance of the two controllers: maximum peak-to-peak value (PTPV) of the tracking errors after the settling time.

Index [rad]	PD + Δsign(r)	ANN + PD + Δsign(r)
max𝑡≥10{PTPV of 𝑒1(𝑡)} (rad)	0.260	0.046
max𝑡≥10{PTPV of 𝑒2(𝑡)} (rad)	0.187	0.047