Multiaxis Servo Synergic Control Based on Sliding Mode Controller

Figure 19

The velocity tracking curves of all servos. (a) The first servo’s target speed. (b) The first servo’s tracking speed. (c) The second servo’s target speed. (d) The second servo’s tracking speed. (e) The third servo’s target speed. (f) The third servo’s tracking speed.

(a)

(b)

(c)

(d)

(e)

(f)