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

Table 2

Quantitative comparison of position tracking performance.

	Traditional sliding mode controller		Adaptive disturbance observer-based exponential sliding mode controller
	(s)	(rad)	(s)	(rad)
Joint 1	0.5384	0.01976	0.01774	0.002778
Joint 2	0.4544	0.01843	0.03014	0.004691