Position Tracking Control of Robotic System Subject to Matched and Mismatched Disturbances

Figure 4

Proposed adaptive disturbance observer-based exponential sliding mode controller: (a) position tracking; (b) position error; (c) control input; (d) enlarged view of the control input; (e) lumped disturbances and its observation.

(a)

(b)

(c)

(d)

(e)