ESO-Based Fuzzy Sliding-Mode Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm

Figure 7

(a) Disturbance estimation of 𝐃(𝑡)₁, (b) disturbance estimation of 𝐃(𝑡)₂, and (c) disturbance estimation of 𝐃(𝑡)₃.

(a)

(b)

(c)