Fig. 8: Pareto dominance Log-plot of simulated diamond and trunk robots.
From: Discovering dominant dynamics for nonlinear continuum robot control
Pareto fronts for minimizing absolute ISE and MPC solve time to control period ratio for time-discretized models of Δt = 0.02 s. a Pareto Log-plot for models of the simulated diamond robot for various control tasks. While SSMR, SSSR, and DMD exhibit Pareto dominance, DMD has consistently higher ISE. b Pareto Log-plot for models of the trunk robot for various control tasks. SSMR, SSSR, and DMD are Pareto-dominant, with SSMR exhibiting the lowest ISE.
