Research Article
Robust Model-Free Control for Robot Manipulator under Actuator Dynamics
Figure 4
3rd case: presence of parameter variation, external disturbance, and friction force. (a) The control input: parameter variation and an external disturbance is injected adding a friction force at . (b) Tracking trajectory : parameter variation and an external disturbance is injected adding a friction force at .
(a) |
(b) |