Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach

Figure 5

The change of the slopes of 𝐾_𝑝(𝑒,𝑡) and 𝐾_𝑣(𝑒,𝑡) curves for various values of 𝛼 and 𝛽.

(a) Changes in slope for 𝐾_𝑝(𝑒,𝑡)=𝐾_𝑝𝑓(1+𝛼𝑒²) for various values of 𝛼: the direction of arrows indicates the increasing value of 𝛼 from negative to positive values

(b) Changes in slope for 𝐾_𝑣(𝑒,𝑡)=𝐾_𝑣𝑓exp[−𝛽𝑒²(𝑡)] for various values of 𝛽: the direction of arrows indicates the increasing value of 𝛽