In this case, it is desired to track the trajectories [yd ,jd ] = [2sin0.3t ,cos0.2t]. Numerous simulations were performed and it was concluded that a good compromise between control effort and a good response, can be achieved using the following design parameters n= ... = ft = 0.01 4=10, 4=15
Simulation results are shown in Fig. 3. It can be seen that while the computed torque method could not stabilize the system in a 20% disturbance, its adaptive counterpart has led to a successful response. Still more interesting is the system's response to parametric variations: the deviation of tracking error from zero, in the presence of a 50% variation is still small and acceptable.
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