Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking

Figure 4

Comparison of the tracking performance among PD, LADRC, and MLADRC with the friction. (a) Trajectory tracking of joint 1. (b) Tracking errors of joint 1. (c) Trajectory tracking of joint 2. (d) Tracking errors of joint 2.

(a)

(b)

(c)

(d)