Design and Experimental Verification of Robust Motion Synchronization Control with Integral Action

Figure 7

Numerical simulation results for Case (-cyan, H0-black, H1-red, H2-blue, and H3-green): (a) elevation angular position trajectory, (b) elevation angle tracking error, (c) voltage of the front motor, (d) voltage of the back motor, (e) estimation error of the elevation angular acceleration of H0, and (f) estimation errors of the first-order derivative of LNSE of H1–H3.

(a)

(b)

(c)

(d)

(e)

(f)