Table 3 Peak tracking error and reduction percentage of inverse dynamics control and adaptive robust sliding mode control.
From: Parallel robotic automated docking method for realizing space segment assembly
Test sequence | Inverse dynamics control tracking error peaks (mm) | Adaptive robust sliding mode control tracking error peaks (mm) | Reduced percentage (%) |
|---|---|---|---|
1 | 1.18 | 0.57 | 51.69 |
2 | 1.32 | 0.63 | 52.27 |
3 | 1.24 | 0.62 | 50 |
4 | 1.09 | 0.58 | 46.79 |
5 | 1.18 | 0.53 | 55.18 |
Average | 1.20 | 0.59 | 50.83 |
