Table 1 Comparative experiment result.

From: Adaptive robust control of tea-picking-manipulator’s position tracking based on dead zone compensation with modified RBF

Control mode

Breakdown times

P

S

Ch

St

Traditional method

51

27

 − 42.3

57.7

The proposed method

9

2

 − 4.7

95.3

  1. Ch and St denote the breakdown of chattering and being stuck respectively; P is penalty, S is general score of different control mode.
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