Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot

<table class="fixed-width table-group" id="tab4"><tr><td><table class="table"><colgroup><col style="width:4.72em"/><col style="width:4.01em"/><col style="width:6.74em"/></colgroup><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">NANPD</td><td class="align_center">ANPD</td><td class="align_center">Improvement</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">0.0052</td><td class="align_center">0.0013</td><td class="align_center">75%</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The RMSE given by the NANPD and ANPD controllers.</div>

Journal of Control Science and Engineering

tab4

Table 4

Table 4: Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot 