Research Article

A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties

Table 4

Quantification of the trajectory-tracking error and the applied control voltaje for .

Index/algorithm APD DHB MRAC

   0.1949 0.0406 0.0402
   4.8726 1.0141 1.0051
   0.1094 0.0266 0.0217
   1.1215 1.1247 1.1267

respect to the total displacement of the desired trajectory , see (86).